• 한국지능시스템학회논문지
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• 제22권5호
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• pp.631-638
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• 2012

본 논문은 슬관절 손상 환자의 하지근력 강화 재활훈련 장치에서 다리를 끌어주는 견인모터의 속도 프로파일을 휴머노이드 로봇 시뮬레이션을 통해 계산하는 방법을 새롭게 제안한다. 먼저 인체의 구조를 본 딴 휴머노이드 로봇의 3차원 전신 모델을 새롭게 구축하고, 표준 관절각도 데이터를 이 모델에 적용하여 자연스러운 보행을 시뮬레이션 했다. 그리고 하지의 대퇴부에 부착되어 있는 벨트와 견인모터와의 거리를 매 샘플링 타임에서 계산하여 이로부터 속도 프로파일을 도출하는 방식으로 보행 중 속도 파형을 생성한다. 휴머노이드 로봇의 기구학적 방법으로는 직진 보행에서 계산량이 적은 투영법을 사용했으며, 유각기의 관절 각도 프로파일은 Winter의 표준보행 데이터를 참조했다. 본 논문에서 제안한 방법으로 계산된 인체 특정부위 속도 프로파일은 제작 중인 트레드밀 재활훈련 장치에 적용될 예정이다.

• 한국안전학회지
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• 제32권1호
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• pp.121-127
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• 2017

Recently, many patients in a hospital are threatened life by fire disaster. Because many patients like vulnerable people have more evacuation problem than ordinary person. So a patient who can escape by oneself with walking assistance device like crutches or wheelchair and another patient who can't escape by oneself are should be supported safety technologies and service. Earlier research of 'hospital evacuation' led by actual experiments or computer evacuation simulation. Actual experiment is effective to gain credibility of result but it is difficult for patients to experiment repeatedly and it requires consideration for spatial problem and economic problems. Although computer evacuation simulation have been used to solve these problems, almost have concluded only results based on velocity without evacuation device. In this study, evacuation results with support device application or not are analysed used by computer evacuation simulation based on MAS(Multi Agent System). As a result, it is drawn through proof of efficiency of evacuation device in the vertical space like stairs that can improve the evacuation plan for vulnerable people in the hospital.

• Physical Therapy Rehabilitation Science
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• 제11권4호
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• pp.591-597
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• 2022

Objective: The sitting and standing are motions that correspond to the previous stage of rehabilitation to go to walking for daily life. The purpose of this study was to measure task times, path length of the center of pressure (COP) and activity on the vastus femoris muscle using surface electromyography (EMG) when standing up and sitting down. Design: One group cross-sectional design Methods: Fifteen elderly subjects (8 male, 7 female) participated. All subjects were tested three times according to four assist levels (non-assist, lower, middle, and maximal assist) using adjusts the length of spring at sit-to-stand and stand to sit on a chair. The task duration, and COP path length were recorded for the balance function on the Nintendo Wii fit board. The activity of the rectus femoris muscle was recorded on both legs using surface EMG. Results: The results showed that the task duration of the sit-to-stand and stand-to-sit were significantly increased compared to without assist (p<.05). The activation of the rectus femoris muscle more significantly decreased compared to without assistance at standing or sitting (p<.05). Conclusions: The assistive chair showed less quadriceps muscle activation during sitting and standing compared to without assistance. We suggest that our assist-standing chair can help with activities of daily living such as standing up and sitting down movements adjusting the spring length for control assist level by safely.

• 한국의류학회지
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• 제44권6호
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• pp.1107-1119
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• 2020

This study analyzed a subject's body reaction and subjective sensation when wearing a gait-assistive rehabilitation robot. The research method measured skin and clothing surface temperatures for 'seating-standing' and 'walking in place' exercises after wearing a gait-assistive rehabilitation robot. In addition, subjective sensation and satisfaction were evaluated on a 7-point Likert scale. The study results showed that the average skin temperature during exercise while wearing the gait-assistive rehabilitation robot was within a comfortable range. However, during the 'seating-standing' exercise, the skin temperature was slightly lowered. Additionally, the clothing surface temperature tended to be lower than the pre-exercise temperature after all exercises. The subjective sensation evaluation results showed that the wear comfort of the waist part was low during mobility/activity. In addition, an overall improvement in the wear comfort of the robot is necessary. The short-time movement of wearing and walking in the gait-assistive rehabilitation robot did not interfere with the thermal comfort of the body. However, the robot needs to be ergonomically improved in consideration of the long wearing time along with improved material that to satisfy overall wearing comfort.

• 대한한방내과학회지
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• 제40권2호
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• pp.220-227
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• 2019

Objectives: Parkinson's disease is the neurodegenerative disease that affects both motor and non-motor function, including postural instability. Camptocormia is an abnormal condition in which the thoracolumbar spine bends forward during walking or standing. However, the treatment options are limited and often not effective. The purpose of this study was to report on the Korean medical treatment of a Parkinson's disease patient with postural instability who presented with camptocormia. Methods: We used Korean medical treatment including herbal medicine (Jemageopung-tang), acupuncture and pharmacopuncture therapy to the patient who was admitted to the hospital for 21 days. The clinical symptoms were assessed with the Unified Parkinson's Disease Rating Scale (UPDRS) and walking time without assistance. Results: After treatment, the UPDRS Parts 2 and 3 scores were decreased from 5 to 3 and 20 to 9, respectively. Also, the walking time without assistance was improved. Conclusion: This study suggested that Korean medical treatment could be an effective option for treating Parkinson's disease with postural instability.

• 재활복지공학회논문지
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• 제8권3호
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• pp.177-185
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• 2014

본 연구에서는 하지마비 장애인의 족하수 방지를 위하여 족배굴곡 보조를 위한 외골격 보조기를 개발하였다. 본 보조기는 인공 근육형 공압 액추에이터를 이용한 동력 전달부, 동력부의 고정을 위한 무릎 관절 착용부 및 보행 신호 검출을 위한 발목 관절 착용부로 구성되었다. 보조기는 무릎 관절 착용부와 발목 관절 착용부에 고정되어 족배굴곡 토크를 발생시켰으며, 발바닥 압력센서를 통해 사용자의 보행 단계를 검출하고, 족배굴곡 보조 타이밍을 감지하도록 하였다. 보행에 이상이 없는 건강한 65세 이상 고령자 7명과 20대 성인 10명을 대상으로 외골격 보조기의 족배굴곡 보조에 대한 성능을 확인한 결과, 인공 근육형 공압 액추에이터의 보조 시 전경골근의 근활성이 감소하는 결과가 나타났다. 향후 연구에서는 하지마비 환자를 대상으로 외골격 보조기의 효과를 검증할 것이다.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• 한국산업융합학회 논문집
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• 제26권6_3호
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• pp.1315-1323
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• 2023

Rehabilitation assistive devices not only assist the rehabilitation therapy and daily life of the disabled and the elderly, but also assist the labor of their caregivers, so various functions are required to improve their quality of life. In this study, a design method considering its practicality is introduced for an active rehabilitation assistive device that can perform both standing and walking assistance by driving various actuators. For this purpose, the force required to assist standing was calculated using statics with the body segmentation method. Also, the overturning stability of the device was verified for various physical conditions and postures. The actuator in the active rehabilitation assistive device was operated by a patient using a graphical user interface in an embedded computer and a touch panel for easy usage. The detailed design was performed for implementation through the help of 3D-CAD and the finite element analysis, and a prototype was produced. Finally, it was proven that the design goal was satisfied by experimental validation.

• 한국소음진동공학회논문집
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• 제22권1호
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• pp.15-21
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• 2012

This paper deals with an experimental study on the reaction of muscles by functional electrical stimulation(FES) with the design and fabrication of an ankle reaction apparatus. The ankle reaction apparatus consists of a circuit part and a kinematic part, and it monitors reaction time for a particular angle of joint rotation according to FES. The experimental results showed that the change of the ankle rotation angle was linearly proportional to the change of the magnitude of FES. It also showed that the muscle's reaction time was constant no matter how large the magnitude of the stimulus. The results of this paper can be applied to develop an active-type walking-assistance robot.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2010년도 제42차 하계학술발표논문집 18권2호
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• pp.113-116
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• 2010

본 논문은 보행중인 시각장애인에 장착된 카메라로부터 획득한 영상에서 보도와 차도 영역을 구분하기 위한 영역분할 기법과 질감 특징추출 기법에 대해 제안한다. 영상내의 허프 변환을 이용한 라인검출을 통해 도로 경계선을 검출하고, 분할된 영역을 원근에 따라 3 레벨로 구분하여 질감 특징성분을 추출함으로써 보도와 차도영역을 분리한다. 보도블럭이 가지는 복잡하고 다양한 특성의 패턴과 차도의 균일한 질감을 가진 영역의 특성을 비교하기 위하여 회전에 강건한 LBP, GLCM 질감 특징성분들을 이용함으로써 두 영역을 구분하였다. 제안된 방법은 낮과 밤 영상에 대해 실험한 결과 조도의 변화에 강건하게 영역을 분리할 수 있었고, 또한 보행자와 장애물이 많은 영상에서도 회전이나 폐색에 관계없이 영역 분리가 가능함을 검증하였다.