• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.867-868
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.989-990
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• 2009

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.1209-1210
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• 2014

본 논문에서는 건설현장에서 응용할 수 있는 각종 작업환경을 고려하여 작업자의 근력증강을 지원하는 로봇을 설계하고 3D 모형을 제시하고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.544-549
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• 2006

This research is to introduce about Judgment System for Intelligent Movement(JSIM) that can perform assistance work of human brain. JSIM can order autonomous command and also it can be directly controlled by user. This research assumes that control object is limited to Mobile Robot(MR) Mobile robot offers image and ultrasonic sensor information to user carrying JSIM and it performs guide to user. JSIM having PDA and Sensor-box controls velocity and direction of the mobile robot by soft-computing method that inputs user's command and information that is obtained to mobile robot. Also it controls mobile robot to achieve various movement. This paper introduces wearable JSIM that communicates with around devices and that can do intelligent judgment. To verify the possibility of the proposed system, in real environment, the simulation of control and application problem lot mobile robot will be introduced. Intelligent algorithm in the proposed system is generated by mixed hierarchical fuzzy and neural network.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.385-391
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• 2023

In the elderly population, sarcopenia occurs due to physical aging, leading to movement restrictions and loss of function. This results in dependence on daily activities and limitations in participation, ultimately decreasing the overall quality of life. In this study, we propose an algorithm designed to enable patients with sarcopenia to perform sit-to-stand and stand-to-sit movements seamlessly in their daily lives. The algorithm incorporates a wearable robot for muscle support and includes algorithms for standing and seated muscle strength support. To validate the algorithm's performance, EMG sensors were attached to the Rectus Femoris and Biceps Femoris muscles. The participants underwent two scenarios: one without wearing the device and one with the device providing muscle strength support, performing sit-to-stand and stand-to-sit motions for one minute in each case. The results showed a 16% increase in the EMG peak value of the Rectus Femoris muscle during standing motion (p=0.009). On the right side, there was a roughly 20% decrease (p=0.018) during standing and a 21% decrease (p=0.014) during sitting motion. In the future, we aim to gather additional data to further refine the algorithm. Our goal is to develop an optimal muscle strength support algorithm based on this data, making it applicable for real-life use by patients with sarcopenia.

• Physical Therapy Rehabilitation Science
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• v.13 no.2
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• pp.205-212
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• 2024

Objective: The purpose of this study is to confirm the exercise effect when combining wearable exercise assist robot, Bot fit's resist mode (Samsung Electronics) and stair climbing. Design: Cross-section study Methods: Targeting 53 adults and seniors, foot pressure and muscle activity were measured when climbing 3-story stairs using foot pressure measurement equipment (W-insole Science System) and surface muscle activity measurement equipment (sEMG; FreeEMG, BTS Bioengineering, Italy) using Bot Fit's resist mode. All subjects were measured without wearing Bot Fit, and the data between the two conditions were compared and analyzed. Results: The front area(p<0.01) and middle area(p<0.05) foot pressures of adults significantly increased when wearing the Bot fit. Frontal area foot pressure significantly increased in elderly people with knee arthritis and obesity(p<0.05). The gastrocnemius activity in all subjects significantly decreased after wearing Bot Fit(p<0.01). In elderly people with knee arthritis, the muscle activity of the rectus femoris was significantly reduced(p<0.05)., and in obese elderly people, the muscle activity of the gastrocnemius muscle was significantly reduced(p<0.05). Conclusions: Based on the results of this study, it is possible to induce correct stair climbing posture when climbing stairs using Bot fit resistance mode. In particular, it is expected to be an effective exercise for strengthening muscle endurance by increasing the activity of the rectus femoris muscle.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.132-143
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• 2017

While working in an industrial environment which requires extended periods of upright posture; workers tend to develop muscle fatigue due to the constant load on lower-limb muscles. In addition, when working while bending knees; muscle fatigue of lower back and hamstrings is increased due to the abnormal posture. This can lead to damage of muscles, induce musculoskeletal disorders, and reduce long-term working efficiency. Recent medical studies have shown that long-term working in an upright posture can induce musculoskeletal disorders such as foot fatigue, edema, pain and varicose veins. Likewise, medical and rehabilitation expenses have grown due to the increase in musculoskeletal conditions suffered by workers. For this problem, we aim to develop a device that can reduce the physical fatigue on the lower limbs by supporting the weight of workers during the extended periods of upright and bending postures in the industrial environments. In this paper, we have designed and manufactured a wearable weight support system; with a user intention algorithm that the users can maintain various postures. For validation of the developed system, we measured the muscle activity of the users wearing the system with EMG sensors.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.379-386
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• 2023

When patients suffer from finger injuries, their finger joints can become stiff and inflexible due to decreased ability to exercise the finger tendons. This can lead to a loss of strength and difficulty using their hands. To address this, it is important to provide patients with consistent rehabilitation treatment that can help restore finger flexibility and strength simultaneously. In this study, we propose wearable gloves that use FSRs (force sensitive resistors) for finger strength training. The glove is designed to be adjustable using rubber bands and a custom PCB is designed for signal acquisition. For the evaluation of finger strength training, the result was analyzed in four cases. We suggest a vector that represents the center of five finger forces, and the result shows that the vector can indicate the level of force balance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.825-837
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• 2017

This paper describes a novel type of a walking rehabilitation robot that applies robot technologies to crutches used by patients with walking difficulties in the lower body. The primary features of the developed robot are divided into three parts. First, the developed robot is worn on the patient's chest, as opposed to the conventional elbow crutch that is attached to the forearm; hence, it can effectively disperse the patient's weight throughout the width of the chest, and eliminate the concentrated load at the elbow. Furthermore, it allows free arm motion during walking. Second, the developed robot can recognize the walking intention of the patient from the magnitude and direction of the ground reactive forces. This is done using three-axis force sensors attached to the feet of the robot. Third, the robot can perform a stair walking function, which can change vertical movement trajectories in order to step up and down a single stair according to the floor height. Consequently, we experimentally showed that the developed robot can effectively perform walking rehabilitation assistance by perceiving the walking intention of the patient. Moreover we quantitatively verified muscle power assistance by measuring the electromyography (EMG) signals of the muscles of the lower limb.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.48-51
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• 2004

'유비쿼터스'라는 신조어를 통해 우리의 현재 IT 분야에 큰 영향을 주고 있으며, 이 개념과 맞물려 우리 일상생활에도 많은 변화가 일어나고 있다. 현재 인터넷은 우리 생활치 일부가 되었고 다음은 로봇의 시대가 될 것이라 생각된다. 많은 국가와 연구실에 로봇에 관한 많은 연구를 하고 있으며 성과를 거두고 있다. 본 논문에서는 지능을 지니고 휴대가 간편한 휴대용기기를 이용하여 가정에서 여러 가지 기능을 수행하는 서비스 로봇을 제어하고자 한다 유비쿼터스 개념과 같이 언제 어디서든지 연결이 가능하도록 무선랜 통신을 사용하여 휴대용 기기와 가정용 서비스 로봇은 정보를 상호 교환 할 수 있다. 지능형 휴대용 기기는 가정용 서비스 로봇이 가정에서 여러 가지 임무를 수행할 수 있도록 소프트 컴퓨팅 기법을 사용한 알고리즘을 이용한다. 또 한 로봇은 환경을 파악할 수 있도록 다종의 센서를 부착하고 있으며 이를 통해 환경에 맞는 임무를 수행 할 수 있도록 정보를 수집한다. 본 논문은 지능형 휴대용 기기를 이용하여 인간 친화적인 가정용 서비스 로봇이 될 수 일도록 기능을 제어하는 것이다.