• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.401-401
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• 2000

A mobile manipulator-a serial connection of a mobile robot and a task robot is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, and perform dexterous tasks. An interesting question,

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.509-515
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• 2010

Purpose : This study was performed to examine the effect of stimulation task-oriented training on the balance ability of the hemiplegic patients caused by stroke. Methods : We made a random sampling of 25 hemiplegic patients caused by stroke. 10 patients(experimental group)were treated by simulation Task-oriented training and Conventional training used by balance pad. The other 10 patients(control group) were only treated by Conventional training used by balance pad. During the training, 3 patients from the experimental group and 2 patients from the control group were excluded by private affairs. The control group has done Conventional training 6 times a week for 6 weeks. And experimental group has done Simulation task-oriented training two times, conventional training four times a week for 6 weeks. Balance ability was assessed by Fuctional Reaching Test (FRT) : unilateral and bilateral reaching. Results : In comparison of FRT before and after training, two groups all was significantly improved(p<.05). But bilateral reaching variation was significantly improved in experimental group. Conclusion : we can use simulation Task-oriented training valuably to increase balance ability of hemiplegic patients.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.3
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• pp.19-28
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• 2013

Purpose : The purpose of this study was to find out the impact of action-observation training and task-oriented training on activities of daily living performance of stroke patients. Method : 30 stroke patients hospitalized in D hospital located in Busan and treated were randomly allocated to Action-Observation Training Group and Task-Oriented Training Group in fifteens. To compare activities of daily living performance before and after therapy intervention, Korea-modified Barthel index (K-MBI) was carried out. Result : In both groups, activities of daily living performance of stroke patients before and after therapy intervention showed statistically significant differences (p<.05) and activities of daily living performance between two groups after therapy intervention showed statistically significant differences. Conclusion : It was found that action-observation training and task-oriented training improved activities of daily living performance of stroke patients. It is considered that the application of action-observation training and task-oriented training to clinical occupational therapy will show a positive effect on the improvement of activities of daily living performance.

• PNF and Movement
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• v.11 no.2
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• pp.41-48
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• 2013

Purpose : The aim of this study was to compare the effect of task-oriented training using the PNF(proprioceptive neuromuscular facilitation) and task-oriented training with chronic stroke patients. Methods : Sixteen chronic stroke patients participated. Participants were randomly assigned to the control and experimental group( 8 experimental, 8 control). All of participants were in-patients at local hospital and had been received training appropriate to the purpose of each group program. Experimental period was carried out 30 minutes/day, five days/week, during four weeks. The experimental group trained the task-oriented training using the PNF and control group trained the task-oriented training. Fugl-meyer assessment scale and Modified Barthel Index was measured to compare the upper arm function and activities of daily living. We were measured before and after the training. Results : The results of the study were as follow: Fugl-meyer assessment scale was significantly increased both groups(p<.05), and significant between groups(p<.05). Modified Barthel index was significantly increased both groups(p<.05) and between groups(p<.05). Conclusion : PNF can be effective in improving upper arm function and ability to perform daily life of chronic stroke patients.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.308-310
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• 2022

With the rise of the Al wave, task-oriented dialogue systems have become one of the popular research directions in academia and industry. Currently, task-oriented dialogue systems mainly adopt pipelined form, which mainly includes natural language understanding, dialogue state decision making, dialogue state tracking and natural language generation. However, pipelining is prone to error propagation, so many task-oriented dialogue systems in the market are only for single-round dialogues. Usually single- domain dialogues have relatively accurate semantic understanding, while they tend to perform poorly on multi-domain, multi-round dialogue datasets. To solve these issues, we developed a paddle-based multi-domain task-oriented Chinese dialogue system. It is based on NEZHA-base pre-training model and CrossWOZ dataset, and uses intention recognition module, dichotomous slot recognition module and NER recognition module to do DST and generate replies based on rules. Experiments show that the dialogue system not only makes good use of the context, but also effectively addresses long-term dependencies. In our approach, the DST of dialogue tracking state is improved, and our DST can identify multiple slotted key-value pairs involved in the discourse, which eliminates the need for manual tagging and thus greatly saves manpower.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.1-8
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• 2006

In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

• Physical Therapy Korea
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• v.23 no.2
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• pp.1-10
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• 2016

Background: Many studies regarding task-oriented training have recently demonstrated functional improvement in patients with post-stroke hemiparesis. The task-oriented approach is very diverse, and chronic stroke patients must have access to a sustained systematic treatment program to enhance their walking ability. Objectives: This study aimed to compare the effects of the task-oriented circuit training and treadmill training on walking function and quality of life in patients with chronic stroke. Methods: Fourteen patients with chronic stroke volunteered for this study. The subjects were randomly divided into a task-oriented circuit training group and a treadmill training group with 7 patients in each. Each training regimen was performed for 30 min a day and 3 days a week for 4 weeks. Assessment tools included the Timed Up-and-Go Test (TUGT), 10-m Walk Test, 6-min Walk Test (6MWT), and the Stroke Impact Scale (SIS). Results: The change in results of the TUGT, 6MWT, and SIS measured prior to and following the training regimens appeared to be significantly different between the two groups (p<.05). In addition, after the intervention, significant differences were found for all parameters in the task-oriented circuit training group and for the TUGT, 6MWT, and SIS in the treadmill training group (p<.05). Conclusion: The findings suggest that task-related circuit training and treadmill training may be helpful to improve walking function and quality of life of patients with post-stroke hemiparesis. Additionally, a task-related circuit training program may achieve more favorable outcomes than a treadmill program.

• Journal of The Korean Society of Integrative Medicine
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• v.8 no.1
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• pp.203-217
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• 2020

Purpose : This study aimed to determine whether task-oriented trunk training can improve muscle strength, muscle activity, balance, and gait in stroke patients. Methods : A total of 27 stroke patients who agreed to participate in the study were randomly divided into the following two groups: (1) experimental group 1, task-oriented training applied to the proximal part (n=14) and (2) experimental group 2, task-oriented training applied to the distal part (n=13). Thereafter, task-oriented trunk training was accordingly applied in each group for 60 minutes per session, 5 times per week for 6 weeks. Muscle power, muscle activity, balance, and gait were assessed using a digital dynamometer, surface electromyograph, Timed Up and Go (TUG) test, and gait analyzer (G-WALK), respectively, before and after training. Results : Trunk muscle strength significantly increased in both groups after training (p<.05). and there was a significant difference between the groups. Muscle activity in the stance phase during gait significantly increased in both groups after training (p<.05), and there was a significant difference between the groups. Muscle activity in the swing phase during gait significantly increased in both groups after training (p<.05), and there was a significant difference between the groups. The TUG test values significantly increased in both groups after training (p<.05), and there was a significant difference between the groups. Gait significantly increased in both groups after training (p<.05), and there was a significant difference between the groups. Conclusion : The results of this study show that task-oriented training can improve trunk muscle strength, muscle activity, balance, and gait in stroke patients.

• Journal of The Korean Society of Integrative Medicine
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• v.7 no.3
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• pp.117-125
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• 2019

Purpose : The purpose of this study was to determine the effects of simultaneous application of focal vibration stimulation and task-oriented training on the improvement in upper extremity motor function after stroke. Methods : The study period was from January to April 2019; 23 patients who fulfilled the study eligibility criteria were enrolled. The participants were divided into two groups: the experimental group with vibration stimulation and task-oriented training and the control group with only task-oriented training. Training was conducted in a total of 20 sessions, 5 times a week for 30 minutes a day for 4 weeks. The amount of use of the affected and unaffected side by accelerometers, and Box and Block test (BBT), Action Research Arm Test (ARAT) was measured with a pre-test, a post-test. Wilcoxon Signed Rank Test and Analysis of Covariance were used to compare and analyze the changes within and between the groups. Results : Both the groups showed statistically significant changes in the results of the BBT and the ARAT, as well as the amount of use of the affected and unaffected side. Regarding the use of the affected side, BBT results, and the grasp and gross movement item of the ARAT showed significant changes in the experimental group compared with the control group. Conclusion : We found that simultaneous application of focal vibration stimulation and task-oriented training was more effective than task-oriented training alone. A large-scale comparative study involving a group that is only given vibration stimulation should be conducted for more generalizable results.

• Journal of The Korean Society of Integrative Medicine
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• v.9 no.4
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• pp.211-223
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• 2021

Purpose : The purpose of this study was to examine the effect of task-oriented circuit training using unstable support surface on balance, gait ability, and balance confidence in subacute stroke patients. Methods : Forty-five patients with subacute stroke were randomly divided into the three following groups of 15: 1) TOCT-US group; task-oriented circuit training using unstable surface (experimental group 1), 2) TOCT-SS group; task-oriented circuit training using stable surface (experimental group 2), and 3) CON group; conventional physical therapy (control group). All patients participated in one of the three training programs for 6 weeks, 30 minutes per session, 3 times per week. Patients' balance ability was assessed using the BT-4, BBS (berg balance scale), TUG (time up and go test), and LOS (limit of stability). Gait speed was measured to examine gait ability. K-ABC (activities-specific balance confidence scale) was also used to assess the level of patients' confidence in daily activities. Results : After the intervention, the sway area in experimental groups 1 and 2 decreased, but that in the control group increased. Experimental group 1 showed significant improvement compared with experimental group 2 and the control group. BBS, TUG, and LOS scores of experimental group 1 were significantly improved compared with those of experimental group 2 and the control group. Also, gait speed significantly improved in experimental group 1 compared with experimental group 2 and the control group. Experimental groups 1 and 2 showed significant improvement in K-ABC scores after training. Conclusion : Patients with subacute stroke had significantly improved balance, gait, and level of confidence in performing activities of daily living following task-oriented circuit training using the unstable surface. This indicates that task-oriented circuit training using unstable surfaces can be an effective treatment method for the recovery of balance and gait in subacute stroke patients.