• 인터넷정보학회논문지
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• 제14권6호
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• pp.33-39
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• 2013

거동이 불편한 노인 및 장애인의 이동을 위한 휠체어 사용 시, 사용하지 않는 상 하지의 근력 저하 등 운동 능력의 감소를 초래할 수 있다. 특히, 척수손상 및 뇌졸중 편마비와 같은 중증 장애인은 거동이 제한되어 운동이 부족하고 근력 유지가 어렵다. 본 논문에서는 이러한 중증 장애인의 특성을 고려하여 상 하지 운동 및 재활훈련이 가능한 지능형 휠체어 로봇 시스템을 설계하였다. 이 시스템은 전동 휠체어, 개인의 특성 파악을 위한 생체인식모듈, 그리고 상 하지 재활 로봇으로 구성되어 있다. 본 논문에서는 개발된 로봇의 설계 및 구성에 대해 설명하고 운용 방법을 제시한다. 또한, 제안한 시스템의 추종 성능을 검증하기 위하여, 비장애인 피험자를 대상으로 재활 운동 수행시 생체 신호 변화에 따른 위험상황 분석과 휠체어 로봇이 이동하면서 상 하지 재활운동 기능에 대한 성능평가를 수행한 결과, 피험자의 재활 운동 수행 시 위험상황 분석에 대한 평균 정확도는 86.7%, 관절각도 최대 오차는 상지 2.5도, 하지 2.3도로 재활 운동 수행에 충분한 추종성능을 나타냈다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1427-1428
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• 2011

• 대한의용생체공학회:의공학회지
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• 제45권2호
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• pp.66-74
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• 2024

This study analyzed the occurrence of abnormal muscle coactivations based on the assistance of upper limb weight during reaching task in stroke patients. Nine chronic stroke survivors with hemiplegia performed reaching tasks using a programmable haptic robot. Electromyography (EMG) coactivation levels in the upper limb muscles were analyzed using a linear model describing the activation levels of two muscles when the patient's upper limb weight was assisted at 0%, 25%, and 50%. As the upper limb weight assistance of the haptic robot decreased, the magnitude of the EMG signal in both the deltoid and biceps muscles increased simultaneously on both the paretic and non-paretic sides. However, no difference was found between the paretic and non-paretic sides when comparing the slope of the linear model describing the activation relationship between the deltoid and biceps. The aforementioned results suggest that in some stroke survivors, the deltoids, triceps, and biceps on the paretic side may not be abnormally coupled when supporting the upper limbs against gravity. Furthermore, these results suggest that the combination of haptic robots and EMG analysis might be utilized for evaluating abnormal coactivations in stroke patients.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.510-517
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• 2015

For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.

• 재활복지
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• 제17권4호
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• pp.401-420
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• 2013

본 연구는 신경인지재활치료가 뇌졸중 환자의 상지기능 회복과 일상생활동작 수행능력에 미치는 효과를 알아보고 장기적인 치료를 위한 기초자료를 제시하고자 한다. 연구대상은 뇌졸중으로 인한 편마비 환자 총 30명을 대상으로 신경인지재활치료군과 전통적인 작업치료군을 각각 15명씩 무작위로 선정하였으며, 실험은 1회 30분, 주 5회, 4주 동안 적용하였다. 대상자의 실험 전과 후의 기능회복 정도는 뇌졸중 상지기능검사(Manual Function Test; MFT)와 Fugl-Meyer Assessment Scale(FMA), 한국판 수정바델지수(Korean-Modified Bathel Index; K-MBI) 점수를 활용하였다. 연구 결과 신경인지재활치료군이 상지기능검사에서 MFT와 FMA 측정값이 유의하게 증가하였으며(p<.05), 두 군 간의 차이를 비교한 결과 상지기능이 통계학적으로 유의한 차이를 보였다. 일상생활동작 검사에서는 신경인지재활치료군에서만 K-MBI 값이 유의하게 향상되었다(p <.05). 연구결과를 통하여 신경인지재활치료가 뇌졸중 환자의 상지 기능과 일상생활동작 수행능력향상에 효과적임을 알 수 있었다.

• The Journal of Korean Physical Therapy
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• 제23권3호
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• pp.7-12
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• 2011

Purpose: The cane is one of the most popular assistive devices for stroke patients. Clinical complaints of sensorimotor functions on the ipsilateral upper limb were appealed in stroke patients who had used a cane for a long period. Therefore, we investigated whether cane usage for a long-term period affected sensoriomotor dysfunctions on the non-affected upper limb, in terms of pain presence, shoulder joint sense, a nine-hole pegboard test, and a tracking task. Methods: We recruited 12 stroke patients, who were divided into the cane-using (CU) group or the non-cane using (NCU) group, according to cane usage experience. We evaluated joint position sense for the integrity of proprioceptive reposition sense in the shoulder joint, used a nine-hole pegboard test for upper limb dexterity evaluation, and a tracking task for visuomotor coordination. Results: Four patients in the CU group had complained of shoulder pain none did in the NCU group. In addition, the CU group showed more reposition errors on the shoulder joint than the NCU group did. In addition, the CU group had more difficulty in proprioceptive sense perception and in performance of the nine-hole pegboard teat and tracking task, compared with the NCU group. Conclusion: Our findings suggest that cane usage for a long period in stroke patients could give rise to trigger joint pain and decrease proprioceptive sense. In addition, complex motor performance in the ipsilateral upper limb could deteriorate. In stroke patients who had used acane for long period, careful observation and proper intervention will be necessary.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• 척추신경추나의학회지
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• 제8권2호
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• pp.21-29
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• 2013

Objectives : The purpose of this study is to investigate the relation between cervical spine lateroflexion and upper limb numbness after whiplash injury by traffic accident. Methods : Outpatients who visited Jaseng korean medicine hospital after traffic accident took cervical MRI. Patients who had Normal disc and bulging disc were reviewed to measure the cervical lateroflexion by C2-C7 Cobb's angle & scalenus muscle's length through neutrality AP X-ray views. For statistics, we used SPSS version 18.0 for windows. Results : Groups classified into difference of scalenus muscle's length were showen statistical significance than into cobb's angle. Means of numbness group's length difference are $4.18{\pm}2.26mm$ and that of non-numbness group is $1.59{\pm}1.17mm$. Unilateral numbness group had greater angle and longer of length's difference than non-numbness group. Conclusions : The more severe the lateroflexion of the upper extremity numbness occurs well. Group classifed into difference of scalenus muscle's length has more tendency of occurrence of upper limb numbness than that into cobb's angle. And upper limb numbness occurs more frequently at the same direction of lateroflexion.

• 국제물리치료학회지
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• 제1권2호
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• pp.185-191
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• 2010

Background: This study investigated effective posture for gluteus medius rehabilitation training and effects of isometric muscle activity by electrophysiology through EMG while performing dynamic isotonic behavior of weight placed differently on upper limbs. Method: 16 healthy male subjects 20 to 29 years of age volunteered for the study. Lateral stabilizer right gluteus medius activity was assessed using EMG while the right lower extremity maintains single limb support, and the left upper extremity elevation movement maintains 5 seconds without load, 1RM to 1 repetition, 5RM to 5 times, 10RM to 10 times, 5RM and 10RM maintain 5sec. Results: Comparison of the mean value of EMG data showed a statistically more significant difference in upper extremity elevation movement on opposite upper extremity added weight than one that was not added on a single limb weight bearing posture(p>.05). Weight supported side gluteus medius activity for 1RM, 5RM, 10RM weight difference and movement repetition did not differ(p>.05). Comparison in maximum value showed statistically significant differences in not adding weight on upper limb elevation exercise and 1RM, 5RM, 10RM repeated behavior. Elevation behavior and repetition appeared over 70% of MVIC. Conclusion: Unilateral weight bearing stance added weight in the opposite upper limb elevation movement was an indirect exercise to effectively stimulate gluteus medius activity. Applying various added weight will have effective exercise on the early stages of rehabilitation because activity gluteus medius did not differ through added weight.

• 대한통합의학회지
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• 제9권3호
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• pp.9-18
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• 2021

Purpose : In this study, we applied a computerized cognitive rehabilitation program (CoTras-C) for children with cerebral palsy. Research was conducted to investigate the impact of upper limb function, sensory function, and activities of daily living. Methods : The study period lasted 10 weeks from October 2019 to December 2019. The study subjects were 12 subjects according to the selection criteria, and a computerized cognitive rehabilitation program (CoTras-C) was conducted twice a week for 30 minutes before and after the application of basic occupational therapy. Results : As a result of the computerized cognitive rehabilitation program, scores of upper limb function (QUEST), sensory function (SSP-2), and daily life activity (WeeFIM) were significantly improved (p>.05). From the result of examining the motor area, improvement in fine-motor function and protective extension through touch pad or controller operation was found. It also showed improvement in activities of daily living including motor and activities of daily living including social cognition. In the sensory function evaluation, it was not significant in movement sensitivity. Significant differences were shown in the items excluding olfactory/taste sensitivity. Conclusion : The application of the computerized cognitive rehabilitation program (CoTras-C) showed significant results in upper limb function, sensory function, and daily life activities of children with brain lesions. Based on these results, future studies need to generalize the study by expanding the age or population of children with brain lesions, or by expanding the diversity of diseases and environments.