• 대한물리의학회지
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• 제15권4호
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• pp.163-174
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• 2020

PURPOSE: This study examined the effects of Robot Tilt-table Training (RTT) on the lower extremity strength, balance, gait, and satisfaction with rehabilitation, in patients with subacute stroke (less than six months after stroke onset), and requiring intensive rehabilitation. METHODS: A total of 29 subacute stroke patients were divided into an RTT group (n = 14) and a Body Weight Support Treadmill Training (BWSTT) group (n = 15). The mean age of patients was 62 years. RTT and BWSTT were performed for four weeks, three times a week, for 30 minutes. Isometric strength of the lower extremities before and after intervention was compared by measuring the maximal voluntary isometric contraction of the lower extremity muscles. To compare the balance function, the center of pressure (COP) path-length and COP velocity were measured. Timed Up & Go test (TUG) and 10 Meter Walking Test (10 MWT) were evaluated to compare the gait function. A satisfaction with rehabilitation survey was conducted for subjective evaluation of the subject's satisfaction with the rehabilitation training imparted. RESULTS: In the intra-group comparison, both groups showed significant improvement in lower extremity strength, balance, gait, and satisfaction with rehabilitation, by comparing the parameters before and after the intervention (p < .05). Comparison of the amount of change between groups revealed significant improvement for all parameters in the RTT group, except for the 10 MWT (p < .05). CONCLUSION: Both groups are effective for all variables, but the RTT group showed enhanced efficacy for variables such as lower extremity strength, balance, gait, and satisfaction with rehabilitation, as compared to the BWSTT group.

• 한국기계가공학회지
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• 제19권7호
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• pp.41-51
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• 2020

This paper presents the development of a robotic system for rehabilitation of the trunk's ability to maintain postural control under different balance conditions. The system, developed with extensive input from rehabilitation and biomedical engineering experts, consists of a seat mounted on a robotic mechanism capable of moving it with four degrees of freedom (3 rotational and 1 translational). The seat surface has built in instrumentation to gauge the movements of the user's center of pressure (COP) and it can be moved either to track the movements of the COP or according to operator given commands. The system allows two types of leg support. A ground mounted footrest allows participation of legs in postural control while a seat connected footrest constrains the leg movement and limits their involvement in postural control. The design evolution over several prototypes is presented and computer aided structural analysis is used to determine the feasibility of the designed components. The system is pilot tested by a stroke patient and is determined to have potential for use as a trunk rehabilitation tool. Future works involve more detailed studies to evaluate the effects of using this system and to determine its efficacy as a rehabilitation tool.

• 대한기계학회논문집B
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• 제41권8호
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• pp.505-510
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• 2017

본 논문에서는 다양한 견관절 장애 증상에 적용할 수 있는 보급형 상지 재활 로봇의 설계를 다룬다. 견관절의 회전에 수반되는 관절 중심의 위치변화를 추종하고, 사용자의 상지와 장치의 무게를 상쇄하는 3자유도 견관절 추종 및 중력보상 메커니즘을 구현하였다. 다양한 방향의 어깨 재활 동작을 구현할 수 있도록 구동축의 방향을 변환하는 메커니즘을 설계하여, 견관절에 대한 구동기의 상대적인 오리엔테이션을 변화시킴으로써 대표적인 5가지 견관절 동작을 수행할 수 있었다. 동시에 재활 운동 중의 견관절의 위치 변화를 추종하여 자연스러운 견관절 운동을 구현할 수 있었다. 최소의 구동기를 사용하는 보급형 로봇으로도 다양한 견관절 질환에 효과적으로 대응할 수 있음을 확인하였다.

• Physical Therapy Rehabilitation Science
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• 제11권4호
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• pp.471-477
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• 2022

Objective: The greatest motor impairment after stroke is a decreased ability to walk. Most stroke patients achieve independent gait, but approximately 70% do not reach normal speed, making it difficult to reach a standard of daily living. Therefore, a wearable exoskeleton is recommended for optimal independent gait because different residual disorders hinder motor function after stroke. This review synthesized the effect on gait speed in randomized controlled trials (RCTs) in which gait training using a wearable exoskeleton was performed on post-stroke patients for qualitative and quantitative analysis. Design: A systematic review and meta-analysis of a randomized controlled trials Methods: RCTs using wearable exoskeletons in robotic rehabilitation of post-stroke patients were extracted from an international electronic database. For quality assessment and quantitative analysis, RevMan 5.4 was used. Quantitative analysis was calculated as the standardized mean difference (SMD) and presented as a random effect model. Results: Five studies involving 197 post-stroke patients were included in this review. As a result of the analysis using a random effect model, gait training using a wearable exoskeleton in post-stroke patients showed a significant improvement in gait speed compared to the non-wearing exoskeleton (SMD=1.15, 95% confidence interval: 0.52 to 1.78). Conclusions: This study concluded that a wearable exoskeleton was more effective than conventional gait training in improving the gait speed in post-stroke patients.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.347.2-347
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• 2002

This paper presented a design and a Vibration control of a biped walking RGO(Robotic Gait Orthosis) and walking simulation by this system. The vibration evaluation of the Knee Joint Mechanism on the biped walking RGO(Robotic Galt Orthosis) was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking RGO. (omitted)

• International Journal of Computer Science & Network Security
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• 제21권2호
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• pp.110-119
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• 2021

The Coronavirus or COVID-19 is contagiousness virus that infected almost every single part of the world. This pandemic forced a major country did lockdown and stay at a home policy to reduce virus spread and the number of victims. Interactions between humans and robots form a popular subject of research worldwide. In medical robotics, the primary challenge is to implement natural interactions between robots and human users. Human communication consists of dynamic processes that involve joint attention and attracting each other. Coordinated care involves sharing among agents of behaviours, events, interests, and contexts in the world from time to time. The robotics arm is an expensive and complicated system because robot simulators are widely used instead of for rehabilitation purposes in medicine. Interaction in natural ways is necessary for disabled persons to work with the robot simulator. This article proposes a low-cost rehabilitation system by building an arm gesture tracking system based on a depth camera that can capture and interpret human gestures and use them as interactive commands for a robot simulator to perform specific tasks on the 3D block. The results show that the proposed system can help patients control the rotation and movement of the 3D arm using their hands. The pilot testing with healthy subjects yielded encouraging results. They could synchronize their actions with a 3D robotic arm to perform several repetitive tasks and exerting 19920 J of energy (kg.m².S^-2). The average of consumed energy mentioned before is in medium scale. Therefore, we relate this energy with rehabilitation performance as an initial stage and can be improved further with extra repetitive exercise to speed up the recovery process.

• 대한물리의학회지
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• 제16권3호
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• pp.123-130
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• 2021

PURPOSE: Robotic gait training is being used increasingly to improve the gross motor performance and gait speed. The present study examined the effectiveness of a novel end-effector type of robotic gait training (RGT) system on standing, walking, running, and jumping functions, as well as the gait speed in children with spastic cerebral palsy. METHODS: Eleven children with spastic cerebral palsy Gross Motor Function Classification System (GMFCS) levels I-III (6 males; age range, 15.09 ± 1.44 years) were examined. They underwent 24 sessions (30 minutes/sessions, one time/day, three days/week for eight consecutive weeks) of RGT. The Gross Motor Function Measure-88 D domain (GMFM D), and GMFM E were assessed with a pretest and posttest of RGT. The setting was a one-group pretest-posttest design. RESULTS: A comparison of the pre-test and post-test show that the outcomes in post-test of GMFM D (p < .01), GMFM E (p < .05), and 10MWT were improved significantly after RGT intervention. CONCLUSION: The present study provided the first evidence on the effects of an eight-weeks RGT intervention in participants with spastic CP. The outcomes of this clinical study showed that standing performance, locomotion function, and gait speed increased in after 24 sessions of the end-effector RGT system in children with spastic cerebral palsy.

• Advances in robotics research
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• 제1권2호
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• pp.155-169
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• 2014

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.

• The Journal of Korean Physical Therapy
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• 제35권1호
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• pp.8-12
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• 2023

Purpose: Recently, many studies on robotic rehabilitation have been conducted, but such studies on patients with ankle sprains are lacking. This study aimed to investigate the effects of robot-assisted rehabilitation on the range of motion of the ankle and balance in patients with ankle sprain. METHODS: This study used the A-B-A' design and was conducted for a total of fifteen days. The subjects performed general physical therapy for five days each, during the baseline A and A' periods. In period B, robot rehabilitation was performed for five days, along with general physical therapy. The subjects were evaluated based on weight-bearing lunge test (WBLT), single leg stance (SLS), and functional reach test (FRT). RESULTS: The WBLT, STS, and FRT showed significant improvement in periods B and A' compared to period A, but there was no significant improvement in period A' compared to period B. Conclusion: This study confirmed that robot-assisted rehabilitation was an effective intervention for improving the function of patients with ankle sprain. In the future, a study with a control group comparison should be performed.

• 산업기술연구
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• 제28권A호
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• pp.75-80
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• 2008

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. This is a new robot for arm therapy applicable to the training of activities of daily living in homes and clinics. This instrument has one degrees of freedom, and is equipped with position and force sensors. Repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. The new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.