• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권4호
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• pp.288-298
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• 2008

We introduce new type of networked robot, Ubiquitous Robotic Companion (URC), embedded with ATLAS Service-oriented architecture for enhancing the space sensing capability. URC is a network-based robotic system developed by ETRI. For years of experience in deploying service with ATLAS sensor platform for elder and people with special needs in smart houses, we need networked robots to assist elder people in their successful daily living. Recently, pervasive computing technologies reveals possibilities of networked robots in smart spaces, consist of sensors, actuators and smart devices can collaborate with the other networked robot as a mobile sensing platform, a complex and sophisticated actuator and a human interface. This paper provides our experience in designing and implementing system architecture to integrate URC robots in pervasive computing environments using the University of Florida's ATLAS service-oriented architecture. In this paper, we focus on the integrated framework architecture of URC embedded with ATLAS platform. We show how the integrated URC system is enabled to provide better services which enhance the space sensing of URC in the smart space by applying service-oriented architecture characterized as flexibility in adding or deleting service components of Ubiquitous Robotic Companion.

• 재활복지공학회논문지
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• 제9권1호
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• pp.17-21
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• 2015

최근에 첨단기술의 발전으로 자동차 자체의 기술 개발을 통한 운전자 안전을 확보하고자 하는 노력은 지속적이고 빠르게 진행되고 있다. 그러나 교통안전시설 개발을 통해 운전 주변 환경에 운전자를 배려하는 기술은 아직 부족하다. 따라서 본 연구에서는 개발된 도로안전지킴이 로봇 도구가 운전환경에서의 안전을 확보하는데 도움이 되는지 여부를 연구하고자 한다. 본 연구방법으로 IT 융합(보조공학 관련 전문가), 운전교육(운전재활), 자동차 관련 연구, 도로환경관련 연구, 건설업 전문분야로 26명을 선정하여 IT융합기반 도로안전지킴이로봇에 대한 안전성, 편리성, 효율성, 효과성을 중심으로 운전 환경에 미치는 영향을 사용성 평가로 조사하였다. 그 결과, LED 전광판의 정보(차량 속도, 건설현장 서행 경고, 안개나 시야확보가 어려운 날씨에 정확한 정보제공)가 운전자에게 전달되어 사고예방에 효과적인 것으로 나타났다. 따라서 본 연구 결론은 도로안전지킴이 로봇의 경우 운전자의 운전환경 개선에 도움이 되었다는 결론을 얻었다. 또한, 시야확보가 어려운 환경에서 더 정확한 정보를 제공할 수 있고, 교통위반, 사고 범죄자 추적 등의 불법 행위에 대한 결과를 기록함으로써 교통안전 예방 메커니즘으로써 중추적인 역할을 할 수 있다.

• 사물인터넷융복합논문지
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• 제9권6호
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• pp.29-35
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• 2023

점자는 시각장애인이 살아가면서 의사소통하거나 시각적 자료의 정보를 습득하기 위해서 사용되는 필수적인 수단이라고 할 수 있다. 하지만 시각장애인들의 점자 해석률은 5%로 미미한 수치를 보인다. 그래서 시각장애인 도서관은 시각장애인들을 위한 각종 정보들을 얻을 수 있는 다양한 형태의 자료를 제작하고 이를 해석하기 위한 보조공학기기도 보유한다. 하지만, 점자책을 구매해서 해석하기에는 점자책의 출판율도 너무 부족하고, 점자 해석률이 너무 낮은 수치고 보조공학기기를 구매하기에는 가격도 너무 비싸고 속도도 느리다는 단점이 있다. 따라서, 본 논문에서는 시각장애인들이 정보를 얻기 위해 사용하는 기존의 방법들과 더불어 도움을 주기 위해 아두이노로 점자를 표출하는 시스템을 구현하였다. 점자 표출은 파이썬과 아두이노 간 시리얼 통신을 통하여 한글 데이터를 파이썬 측에서 송신하고 데이터를 수신한 아두이노에서는 한글 데이터를 프로그램 내 배열에 있는 데이터들과 비교하여 해당 한글 데이터의 점자 값들을 가져온다. 여기서 점자 값은 점자일람표 기준으로 하얀색 원, 검은색 원을 이용해 서보모터 모터를 몸통과 수직이거나 수평으로 제어하면서 점자를 표출하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.957-962
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• 2005

Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

• 한국인터넷방송통신학회논문지
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• 제13권2호
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• pp.217-223
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• 2013

저출산과 고령화에 따른 교통약자의 증가에 따라 베리어프리 환경에 대한 관심이 높아지고 있다. 고령화 현상은 세계적인 추세로 변화하는 사회여건을 고려하고 발전하는 유비쿼터스 기술을 이용한 교통안전시설과 이동지원시설의 설치가 필요한 시점이다. 장애인, 노약자를 위한 이동성 향상을 위하여 최근 급진적으로 발전되고 있는 IT기술을 활용하여 제거 또는 감소시켜 줌으로써 Barrier Free 환경이 구축되도록 하여야 한다. 본 연구에서는 유비쿼터스 기술의 적용을 위하여 보행 및 안전지원시스템의 도입 필요성 및 도입시 필요한 고려사항에 대한 검토결과를 제시한다. 해외 기술개발 사례를 분석하여 향후 도로 및 보행환경에서의 유비쿼터스 기술의 도입을 위한 기초자료를 제공하고, 도입 방안을 검토하였다.

• Pediatric Gastroenterology, Hepatology & Nutrition
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• 제26권4호
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• pp.181-192
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• 2023

Purpose: The development of assistive devices has allowed for the performance of capsule endoscopy in children. Anticipating the capsule's transit time could affect the efficacy of the investigation and potentially minimize the fasting period. This study determined the predictors of small bowel transit time for small-bowel capsule endoscopy in children and adolescents with inflammatory bowel disease. Methods: We retrospectively examined children and adolescents with inflammatory bowel disease who underwent capsule endoscopy by the age 18 at a Japanese tertiary care children's hospital. Small bowel transit time predictors were analyzed using multiple regression with explanatory variables. Results: Overall, 92 patients, aged 1-17 years, with inflammatory bowel disease (63 Crohn's disease and 29 ulcerative colitis cases) were examined for factors affecting small bowel transit time. In the simple regression analysis, diagnosis, age, height, weight, serum albumin, general anesthesia, and small intestine lesions were significantly associated with small bowel transit time. In the multiple regression analyses, serum albumin (partial regression coefficient: -58.9, p=0.008), general anesthesia (partial regression coefficient: 127, p<0.001), and small intestine lesions (partial regression coefficient: 30.1, p=0.037) showed significant associations with small bowel transit time. Conclusion: Hypoalbuminemia, the use of general anesthesia for endoscopic delivery of the capsule, and small intestine lesions appeared to be predictors of prolonged small bowel transit time in children and adolescents with inflammatory bowel disease. Expecting the finishing time may improve examination with a fasting period reduction, which benefits both patients and caregivers.

• 한국전문물리치료학회지
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• 제9권2호
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• pp.61-81
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• 2002

The purposes of this research were to investigate home care rehabilitation services in rural areas and to collect basic data about disabled persons necessary when for carrying out rehabilitation services. Respondents were selected from six of a total of eight townships (Myon) and one town (Eup) in the Wonju city area. Wonju is in Kangwon Province (Do). Of a total of 338 names provided by the Myon offices, 298 persons were located and included registered and non-registered persons. Conditions included stroke, spinal cord injury, and cerebral palsy in addition to disabilities classified as first, second or third degree, in the case of registered cases. Respondent demographic characteristics, medical characteristics, rehabilitation service needs, willingness to receive rehabilitation service and individual opinions regarding rehabilitation services were analysed by frequency and percentage. The results were as follows: 1) Rehabilitation services received by disabled persons living at home in the rural areas surrounding Wonju city were medical rehabilitation (41.7%), diagnosis (36.5%), rehabilitation assistive devices (7.6%), social assistance (7.1%), rehabilitation counseling (3.0%), vocational rehabilitation (1.8%), educational rehabilitation (1.6%) and housekeeping services (0.5%). The majority of rehabilitation services were medical rehabilitation provided at hospitals and oriental medicine hospitals. 2) Sixty point eight percent of respondents expressed their willingness to receive home care rehabilitation services. Needs expressed were highest for medical rehabilitation (27.0%), followed by social assistance (19.4%), medical examination (12.4%), physician-generated diagnosis in the home setting (11.6%), sociopsychological rehabilitation (9.3%), vocational rehabilitation (7.6%), rehabilitation engineering (6.0%), educational rehabilitation (3.3%), and housekeeping services (3.3%). 3) Rehabilitation service needs were analyzed by severity classification: 65.8% of first degree, 62.7% of second degree and 55.6% of third degree disability classification, and 62.7% of non-registered disabled individuals responded that rehabilitation service was necessary. 4) Rehabilitation service needs were also analyzed by diagnosis: 62.6% of stroke, 85.5% of amputation, 60.0% of spinal cord injury and 52.4% of traumatic brain injury respondents answered positively that they were willing to receive rehabilitation service if it were to be provided. Rehabilitation service utilization data of disabled individuals living at home in rural areas were investigated and their rehabilitation needs analyzed. This critical information can be used when community-based rehabilitation programs for disabled persons living at home are planned for provision out of a public health center or when community-based rehabilitation welfare policy is formulated.

• 대한의용생체공학회:의공학회지
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• 제31권3호
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• pp.217-226
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• 2010

The lower limb orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of muscular activities of lower limbs was developed in this study. Compared to other knee extension assistive devices being developed by other researchers, our device is designed especially for the elderly people and intended only for slight assistance so that the subjects can keep their muscular strength. For the effectiveness of system, muscular activities of major muscles in lower limbs during sit-to-stand (STS) and squat motion were measured and analyzed. Subjects were performed the STS and squat motion with and without lower limb orthosis. We made comparison muscular activities between with and without lower limb orthosis. Lower limb orthosis was controlled using muscular stiffness force feedback that is controlled by muscular activities of the measured muscle from force sensor. For analysis of muscular activities, electromyography of the subjects was measured during STS and squat motion, and these were measured using MP 150(BIOPAC Systems, Inc.). Muscles of interest were rectus femoris(RF), vastus lateralis(VL), vastus medialis(VM) and vastus intermedius(VI) muscles in lower limbs of the right side. A biodex dynamometer was used to measure the maximal concentric isokinetic strength of the knee extensors of wearing and not wearing orthosis on right side. The test were performed using the concentric isokinetic mode of test with the velocity set at 60°/s for muscles around the knee joints. The experimental result showed that muscular activities in lower limbs wearing orthosis using muscular stiffness force of a vastus medialis muscle was reduced and knee extension torque of an knee joint wearing lower limb orthosis was increased. With this, we confirmed the effectiveness of the developed lower limb orthosis.

• 예술인문사회 융합 멀티미디어 논문지
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• 제9권1호
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• pp.457-466
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• 2019

본 연구는 시각장애인의 전시예술품 관람 실태 및 욕구조사를 통해 전시예술품 방문관람 접근성을 높이고 지원방안을 모색하여 시각장애인들의 문화예술을 향유할 권리를 향상시키는 데 그 목적이 있다. 시각장애인을 대상으로 온라인 설문지를 사용하여 연구참여자를 모집하였으며, 총 83명의 응답이 최종 분석에 사용되었다. 그 결과는 다음과 같다. 첫째, 시각장애인의 문화생활 이용 실태는 영화감상이 가장 주된 반면 전시예술품감상은 최하위였다. 단, 주된 문화생활 다섯 가지를 선택해 달라는 질문에 71.1%의 응답에 전시예술품 감상이 포함되었다. 전시예술품 관람 목적은 재미추구가 가장 높게 나타났다. 전시예술품 관람을 하지 않는 이유로는 시각위주의 관람문화를 가장 많이 표시하였다. 둘째, 시각장애인들이 선호하는 전시예술품 감상 방법으로는 눈을 작품 가까이에 대고 감상하는 것으로 나타났으며 절반 이상의 응답자는 잔존시각을 활용한다고 보고했다. 작품 감상 시 시각을 가장 많이 사용하지만 응답자 대부분이 다중 감각을 사용한다고 보고하였다. 또한 다양한 감각을 활용하여 작품을 감상을 할 수 있는 보조기기/서비스가 있다면 감상에 도움이 될 것이라고 보고하였다. 본 연구 결과는 시각장애인의 특성을 고려하여 전시예술품 관람에 있어 환경적 변화가 요구됨을 시사한다. 이를 통해 궁극적으로 문화예술향유권 실현하고 통합사회를 구현하는 데 기여할 것으로 기대한다.