• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1638-1641
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• 2004

Many walking stands, and assisting tools have been developed for the people with low-limb disability to prevent diseases from bedridden state and to help them walk again. But many of those equipments require user to have some physical strength or balancing ability. In our last research, we developed walking assist system for the people with lower-limb disability. With the system, user can be assisted by actuators, and do not have to worry about falling down. The system adapted the unique closed links structure with four servomotors, three PICs as controller, and four limit switches as HMI (human man interface). We confirmed the adaptability of the system by the experiment. In this research, Muscle Stiffness Sensor was tested as the advanced HMI for walking assist system, and confirmed the adaptability by the experiment. As Muscle Stiffness Sensor can attain the muscle activity, user can interface with any device he want to control. Experimental result with Muscle Stiffness sonsor showed that user could easily control the walking assist system as his will, just by changing his muscle strength.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1759-1764
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• 2005

Human Adaptive Mechatronics(HAM) is a new concept which was proposed in our university's research project sponsored by Japanese Ministry of Education, Sports, Culture, Science and Technology(MEXT), and is defined as "intelligent mechanical systems that adapt themselves to the user's skill under various environments, assist to improve the user's skill, and assist the human-machine system to achieve best performance". In this paper, the concept and key-items of HAM are mentioned. And the control strategy to realize a HAM human-machine system is explained in the case of physical-interface system, i.e. haptic system. The proposed assist-control of a force-feedback type haptic system includes online estimation of a operator's control characteristics, and a `force assist' function implemented as a change in the support ratio according to the identified skill level. We developed a HAM-haptic device test system, executed evaluation experiments with this apparatus, and analyzed the measured data. It was confirmed that the operator's skill could be estimated and that operator's performance was enhanced by the assist-control.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• Journal of Korean Physical Therapy Science
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• v.27 no.3
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• pp.35-44
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• 2020

Background: This study was to confirm the effect and feasibility of knee extension assist orthosis (KEAO) on balance and gait in subacute stroke patients. Design: Case study. Methods: The subjects of the study were 4 subacute stroke patients, who had an onset period of less than 6 months. The limit of stability (LOS) and berg balance scale (BBS), timed up and go test (TUG) were used to verify the dynamic balance ability, static balance ability, and gait ability pre and post and after wearing the knee extension assist orthosis (KEAO). In addition, the satisfaction survey was to confirm the feasibility of the knee extension assist orthosis (KEAO) through the to Korean quebec user evaluation of satisfaction assistive technology 2.0 (K-QUEST 2.0). Results: After the wearing on KEAO, the distance for the limit of stability decreased by mean 541.25±240.46 mm2, and the score on the berg balance scale improved by mean 5±2.71 point, and the time for the timed up and go test deceased by mean 3.75±1.71 second. The stability and durability were found to be full score, and the control, ease, effectiveness were some high score, and the size, weight, comfort were some low score in the satisfaction and feasibility. Conclusion: The knee extension assist orthosis (KEAO) produce in this study was improved the static balance ability, dynamic balance ability and gait ability of subacute stroke patients, and the satisfaction and feasibility were high in the stability, durability and effectiveness of the user.

• Journal of Korean Library and Information Science Society
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• v.18
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• pp.245-268
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• 1991

Some conclusions derived from the study are as follows : 1) Most conventional information retrieval systems require users do precisely that specify the information they require, but user's information needs are not always precise. 2) Information need arise from when users are in an anomalous stats of knowledge about some problem, so user's information needs are not always precise. 3) Information retrieval systems must assist to users make themselves correct, complement, and specify their information need. When information need arise, systems should understand the state of knowledge and will be design to present and specify their ill-defined potential information need. 4) Existing information retrieval techniques need a tool to complement current its disadvantages and to enhance retrieval efficiency. Browsing searching will be a role such as a tool. 5) Browsing searching can understand user's state of knowledge and assist to specify not only pre-searching information need but also changed information need during searching progress.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.4
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• pp.313-323
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• 2023

The wearable robot system is designed to assist human skeletal and muscular systems for enhancing user's abilities in various fields, including medical, industrial, and military. The military has an expanding need for wearable robots with the integration of surveillance/control systems and advanced equipment in unstructured battlefield environments. However, there is a lack of research on the design and mechanism of wearable robots, especially for power assist systems. This study proposes a lightweight wearable robot system that provides comfortable wear and muscle support effects in various movements for soldiers performing high-strength and endurance missions. The Power assist mechanism is described and verified, and the tasks that require power assist are analyzed. This study explain the system including its driving mechanism, control system, and mechanical design. Finally, the performance of the robot is verified through experiments and evaluations, demonstrating its effectiveness in muscle support.

• Journal of Biomedical Engineering Research
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• v.31 no.4
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• pp.269-274
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• 2010

The purpose of this study was to develop the FSR sensor suit that controls walking assist device for paraplegic patients. The FSR sensor suit was to detect user's intent and patterns for walking by measuring pressure on the palm and the sole of user's foot. It consisted of four modules: sensing pressure from palm, changing modes and detecting pressure on the palm/at the wrist, sensing pressure from the soles of user's foot, and host module that transmit FSR data obtained from sensing modules to PC. Sensing modules were connected to sensing pads which detect analog signals obtained from the palm or the sole of foot. These collect signals from the target regions, convert analog signals into digital signals, and transmit the final signals to host module via zigbee modules. Finally, host modules transmit the signals to host PC via zigbee modules. The study findings showed that forces measured at the palm when using a stick reflected user's intent to walk and forces at the sole of the user's foot revealed signals detecting walking state.

• Proceedings of the Korean Information Science Society Conference
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• 2002.04b
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• pp.244-246
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• 2002

The rapid increase of E-commerce market requires a solution to assist the buyer to find his or her interested items. The intelligent agent model is one of the approaches to help the buyers in purchasing items in outline market. In this paper, the user query processing model in the item recommendation agent is proposed. In the proposed model, the retrieval result is affected by the automatically generated queries from user preference information as well as the queries explicitly given by user. Therefore, the proposed model can provide the customized search results to each user.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.3
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• pp.1311-1324
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• 2019

In the traditional cellular network communication, the cellular user and the base station exchange information through the uplink channel and downlink channel. Meanwhile, device-to-device (D2D) users access the cellular network by reusing the channel resources of the cellular users. However, when cellular user channel conditions are poor, not only D2D user cannot reuse its channel resources to access the network, but also cellular user's communication needs cannot be met. To solve this problem, we introduced a novelty D2D communication mechanism in the downlink, which D2D transmitter users as half-duplex (HD) relays to assist the downlink transmission of cellular users with reusing corresponding spectrum. The optimization goal of the system is to make the cellular users in the bad channel state meet the minimum transmission rate requirement and at the same time maximize the throughput of the D2D users. In addition, i for the purpose of improving the efficiency of relay transmission, we use two-antenna architecture of D2D relay to enable receive and transmit signals at the same time. Then we optimized power of base station and D2D relay separately with consideration of backhaul interference caused by two-antenna architectures. The simulation results show that the proposed HD relay strategyis superior to existing HD and full-duplex (FD) models in the aspects of system throughput and power efficiency.