• 로봇학회논문지
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• 제10권3호
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1949-1960
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• 2004

This paper presents a robot system developed for medical purpose. A 6-degree-of-freedom robot was introduced for physical exercise and rehabilitation. This system was proposed for stroke patients or patients who cannot use one of their arms or legs. The robot system exercises the hemiplegic part based on the motion of normal part of a patient. Kinematic studies on the human body and robot were applied to develop the robotic rehabilitation exercise system. A clamp which acts as an end effector of the robot to hold a patient was designed and applied to the robot to guarantee the safety of patients. The proposed robotic rehabilitation system was verified by simulations and experiments on arm (elbow and shoulder) motion. Patients are expected to be able to exercise various motions by themselves with the proposed robotic rehabilitation system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.65-68
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• 2001

In the rehabilitation robotic arm systems for the disabled with spinal code injury, EMG signals are used in the control of the robotic arm. EMG signals are corrupted by many kinds of noises such as ECG signal, power noise and contact noise of electrode. Noise rejection improves the performance of the EMG pattern classification. In this paper, a variable bandwidth filter (VBF) and wavelet transform are used for the noise rejection of EMG signals and the comparison of SNR is given. Also, some statistical characteristics of features are investigated.

• 재활복지공학회논문지
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• 제9권1호
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• pp.1-9
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• 2015

국외의 재활보조기기 추세를 분석하였다. 접어지는 기능이 강화되고, 기존의 동력이 없는 장치에 전동구동 보조모듈이 추가되고, 전반적인 보조기기의 완성도가 향상되고 있다. 특히, 접어지는 기능을 포함한 휴대 및 보관하기 용이한 이동 보조기기가 증가하고 있다. 동력 보조 휠 및 상지보조 모듈이 시장에 진입하고 있다. 상대적으로 성숙된 최신기술을 적용한 신개념의 휠체어가 시장이 나오고 있다. 최신 로봇기술을 응용한 하지 외골격 로봇이 경쟁체제에 돌입하였다. 기립형 휠체어, 경사로, 간단한 계단 이동보조장치가 보편화 되고 있다. 보조기기와 다양한 스마트기기가 결합되고 있다. 이외에도 멋진 디자인, 소재, 가공기술 등에 의한 완성도가 제고 되고 있다.

• 대한물리치료과학회지
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• 제30권1호
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• pp.1-9
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• 2023

Background: The advantages of robotic therapy have recently been attempted several times in the rehabilitation of total hip arthroplasty (THA) patients. Therefore, this study also aims to report a case of how robot therapy affects the function of THA patients due to developmental dysplasia of the hip (DDH). Design: Case Study. Method: This study used the A-B-A' design. Period A is before robotic therapy, period B is robotic therapy, and period A' is after robotic therapy. The subjects performed physical therapy and occupational therapy for five days each during the baseline period A and A'. In intervention period B, robotic therapy was performed for five days along with the baseline intervention. This study was conducted for a total of fifteen days. The subjects' sit to stand (STS), timed up and go (TUG), and 10 metre walk (10MW) were evaluated. Result:: STS and TUG were significantly improved in periods B and A' compared to period A (p<0.05), and STS was significantly improved in period A' compared to period B (p<0.05). 10MW showed no significant improvement in periods B and A' compared to period A. Conclusions: This study confirmed that robot therapy was an effective intervention in improving the function of women in their 30s who underwent THA due to DDH. In the future, a study comparing the control group should be performed.

• 상하수도학회지
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• 제30권6호
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• pp.725-736
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• 2016

There is a growing concern on the improvement of water distribution pipeline for multi-regional water supply system in Korea along with its aging infrastructure. Rehabilitation of large diameter pipeline is more efficient in cost and time compared to replacement with trenching. The procedure for rehabilitation are diagnosis, cleaning, spraying coating material, and final inspection. The internal state of pipeline was carefully diagnosed and got C grade, which required rehabilitation. We found that 17,274,787,000 Korean won could be saved after pipe surface coating because of increased C coefficient of Hazen-Williams equation. Optimal coating material was D polyurea. We also found optimal distance between spraying nozzle and pipe wall to be 70 - 80 cm, which were critical factors for coating quality. This study also illustrated the time for spray drying to be more than 30 min. These results could be used in the quality control process during rehabilitation of aged pipelines.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.

• 재활복지공학회논문지
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• 제9권1호
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• pp.73-80
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• 2015

본 논문에서는 상지하부 절단환자를 대상으로 하는 상지 근전도 기반의 로봇 팔 제어방법을 제안한다. 로봇 팔의 제어를 위해 전완 신전근과 전완 굴곡근 그리고 이두근의 근활성도를 분석하여 특정 자세에 따른 근활성도 분포를 제어입력으로 활용하였다. 이러한 제어 입력은 알고리즘을 통하여 로봇 팔을 제어하기 위한 제어명령으로 변환된다. 제안하는 방법에 대한 실험 및 검증을 위하여 1채널 근전도 착용형 모듈과 각각의 모듈과의 연동을 통하여 3채널 근전도 분석을 수행하는 PC 어플리케이션 기반의 5자유도 로봇 팔 제어시스템을 구성하였다. 제어의 정확도 및 성능평가를 위해 로봇 팔을 통한 물건 옮기기 실험을 수행하였으며, 20대 중반의 남성을 대상으로 하여 10시간의 숙달훈련 후 실험을 수행한 결과 실험결과의 평균 정확도가 92.5%로서 제안하는 방법은 유효한 것으로 평가하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1593-1594
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• 2011

• Physical Therapy Rehabilitation Science
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• 제5권3호
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• pp.125-131
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• 2016

Objective: The purpose of this study was to investigate the effects of providing visual feedback and auditory stimulation using a robotic device on balance and gait abilities in stroke patients. Design: Randomized controlled pilot trial. Methods: Fifteen subjects were randomly divided into three groups where five subjects were in the visual feedback robotic device assist gait training (VRGT) group, five subjects in the auditory stimulation robotic device assist gait training (ARGT) group, and five subjects in the control group. Subjects received visual feedback and auditory stimulation while undergoing robotic gait training for 45 minutes, three times a week for 2 weeks, and all subjects had undergone general physical therapy for 30 minutes, five times a week for 2 weeks. All subjects were assessed with the Berg balance scale (BBS), timed up and go (TUG) test, and 10-meter walking test (10MWT) pre- and post-intervention. Results: All subjects showed that BBS, TUG test, and 10MWT scores significantly improved post-intervention (p<0.05), and the control group also had significantly improved post-treatment (p<0.05). The VRGT and the ARGT showed significant improvements in BBS, TUG, and 10MWT scores compared with the control group (p<0.05). The VRGT group showed a significant improvement in BBS, TUG, and 10MWT scores compared with the control group (p<0.05). In addition, it has been confirmed that VRGT had significantly improved in BBS, TUG test, and 10MWT scores compared with the auditory stimulation and control group (p<0.05). Conclusions: The results of this study showed improved balance and gait abilities after VRGT and ARGT groups compared with general physical therapy and was found to be effective in enhancing the functional activity of persons affected with stroke.