• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1625-1626
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• 2013

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.42-48
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• 2011

This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.4 no.1
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• pp.39-47
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• 2006

Functional Electrical Stimulation(FES) cause paralysed muscles to contract in some clinical circumstances. Generally, FES has been thought of as a valuable tool in activating any skeletal muscle paralysed as a result of upper motor neuron damage. But, the function of cardiac and smooth muscle is also affected by upper motor neuron damage. Today, various applications of FES are investigated, including conditioning cardiovascular exercise, caugh and breathing assistant, improving bowel and bladder control, hand grasp, standing and walking etc. This review will focus on the literature reporting application of FES to control respiratory capabilities and internal organ function as well as increase muscular strength, hand grasp, standing and walking in patients with upper motor diseases.

• Journal of Korean Physical Therapy Science
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• v.3 no.1
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• pp.871-879
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• 1996

The authors studied 74 patients with cal therapy Kosin University Medical March 1994 through February 1995. The results were, as follows: 1. Average age of the subject patients was 59.3 years old, their age ranged from 20 to 84 years old, and the incidence between male and female was 1:1.24 2. In respect to the economy level the middle class revealed the highest incidence, 40(54%) in 74cases. 3. The cause of injury revealed the highest incidence in hypertension 52 patients(72 %), more than all revealed the highest incidence 23 patients(44 %) in 60th years old. 4. The form of injury revealed the highest incidence in infarction 36 patients(49 %), more then all revealed the highest incidence 13 patients (36 %) in 60th years old. 5. As for the region cerebral artery of infarction patients, middle cerebral artery was the highest region of injury 72 %. 6. As for the physical paralysis side, the left side showed higher incidence 40 patients(54 %) compared to the right side 31 patients (42 %). 7. The period of therapy was 56 days, in average extending from 7 days to II months, nore then all there were the most numerous patients within 3 weeks 28 patients(38 %). 8. The upper side of the upper lims had improved 67 patients(91 %), the lower side 48(65 %). In the cases of the lower limb, the upper side had improved 70(95 %), the lower side 58(78 %). In short, patients had improved more the lower limb than the upper limb, the upper side(elbow and shoulder part) then the lower side(wrist and finger) of the upper limb. In the cases of the lower limb, patients had improved more the upper side (knee and hip part) then the lower side(foot and ankle) 9. In the cases of patients can be walking among subject patients 55(74 %) and patients cannot be walking 19 (26 %), In the cases of patients utilized assistant apparatus 34 (62 %) among self-walking, completely patients can be self-walking 21(28 %).

• Journal of Korea Entertainment Industry Association
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• v.14 no.7
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• pp.519-528
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• 2020

Purpose of this study is to analyze the changes in state anxiety, heart rate, and fall efficacy of the elderly through the handle height of walking assistant vehicle (WAV). The subjects were 32 elderlies. WAV was in the form of strollers, and it's handle height was set as 48% of a subject's total height. Also, it's height was divided into 48, 43, 38%. To measure the state anxiety, Korean State-Trait Anxiety Inventory was used and to measure the heart rate, Fitbit Charge 2 wrist heart rate monitor was used. To measure the fall efficacy, Fall Efficacy Scale-Korea was used. As the results of state anxiety and heart rate, the statistically significant increase showed continuously through the decrease of the handle height of WAV. As the results of fall efficacy, the statistically significant decrease showed continuously through the decrease of the handle height of WAV. In all of the post hoc test, the results of the state anxiety and fall efficacy showed significant difference among the each handle height of WAV and the results of the heart rate showed significant difference between the 48, 43% and 38% handle height of WAV. Thus, to decrease the state anxiety and heart rate and increase the fall efficacy of the elderly, the handle height of WAV should be properly positioned and considered to adjust to 48% of the user's total height.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.841-844
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• 2021

보행 환경 인지 기술은 보행 보조 로봇의 지능화를 위한 핵심 기술 중 하나다. 이 논문은 국내 보행 환경에 대한 보행 보조 로봇의 인지 지능을 고도화하는 방법으로 심층 학습 기반의 의미론적 영상 분할 기법을 고려한다. 이 논문은 국내 보행 환경에 대한 기존 영상 분할 기법의 성능을 비교 분석하고, 국내 보행 환경에 적합한 영상 분할 기술의 개발 방향과 인지 센서의 구성 및 배치에 대해 논한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.435-437
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• 2022

보행 보조 로봇의 효과적인 보조를 위해서는 사용자의 보행 유형을 인식하는 것이 중요하다. 본 논문에서는 end-to-end 분류 네트워크 기반 보행 환경 인식 방법을 사용하여 사용자의 보행 유형을 강인하게 추정한다. 실외 보행 환경을 오르막길, 평지, 내리막길 3 가지로 분류하는 딥러닝 모델을 학습시켰으며, 엣지 디바이스에서 이를 사용하기 위해 네트워크 경량화를 진행하였다. 경량화 후 추론 속도는 약 47FPS 수준으로 실시간으로 보행 보조 로봇에 적용 가능한 것을 검증했으며, 정확도 측면에서도 97% 이상의 성능을 얻을 수 있었다.

• Journal of Korean Critical Care Nursing
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• v.15 no.1
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• pp.24-34
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• 2022

Purpose : This descriptive survey aims to identify the prevalence of factors associated with sarcopenia among hemodialysis patients. Methods : The study subjects were 137 patients with chronic kidney failure undergoing hemodialysis in three artificial kidney centers in B and Y cities. Data were collected from August 1 to September 30, 2020, using the SARC-F (Strength, Assistant walking, Rising from a chair, Climbing stairs, Falls) questionnaire, Mini Nutritional Assessment-Short Form (MNA-SF), International Physical Activity Questionnaire (IPAQ-SF), Bioelectrical Impedance Analysis (BIA), and a grip dynamometer. The collected data were analyzed using t-tests, crossover analysis, and logistic regression using the IBM SPSS 23 program. Results : The prevalence of sarcopenia among hemodialysis patients, determined using the SARC-F questionnaire, was 16.1%. The associated factors of sarcopenia among hemodialysis patients were found to be gender (OR=6.44, p =.002), age (OR=1.07, p =.015), nutritional status (OR=10.37, p =.027), and albumin level (OR=0.10, p =.014). These findings are supported by an explanatory power of 46.3% (p =.597). Conclusion : The identified risk factors for sarcopenia in hemodialysis patients were; sex, age, nutritional status, and albumin level. The findings of this study can serve as clinical evidence for the development of an intervention program for preventing and managing sarcopenia in patients undergoing hemodialysis.