• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Journal of Advanced Marine Engineering and Technology
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• 제36권7호
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• pp.894-901
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• 2012

For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

• 한국정밀공학회지
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• 제26권7호
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• pp.134-141
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• 2009

Recently, many researchers have tried to develop wearable robots for various fields such as medical and military purposes. We have been studying robotic exoskeletons to assist the motion of persons who have problems with their muscle function in daily activities and rehabilitation. The upper-limb motions (shoulder, elbow and wrist motion) are especially important for such persons to perform daily activities. Generally for shoulder motion 300F is needed to describe its motion(extension/flexion, abduction/adduction, internal/external rotation) but we have used a redundant actuator thus making a 4 DOF system. In this paper, we proposed the mechanism design of the exoskeleton which consists of 4-DOF for shoulder and 1-DOF for elbow robotic exoskeleton to assist upper-limb motion. Then we compared the new mechanism design and prototype mechanism design. Here we also analyze the proposed system kinematically to find out and to avoid the singular point. This research will ensure that the proposed wearable robot system make human's motion more powerfully and more easily.

• 재활치료과학
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• 제7권4호
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• pp.79-91
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• 2018

목적 : 본 연구에서는 상지 로봇 치료가 아급성기 뇌졸중 환자의 상지기능에 단기적으로 미치는 영향을 알아보는 것이었다. 연구방법 : 본 연구는 뇌졸중 편마비 진단을 받고 1회 1시간씩 상지 로봇 치료와 과제 지향적 훈련(task-oriented training)를 받았던 환자 20명의 의무기록을 이용한 후향적 연구로서, 중재 전/후의 3차원 동작분석검사 결과 값을 토대로 두 중재간의 변화량을 비교 하였다. 결과 분석은 기술 통계와 대응표본 t검정을 사용하여 결과 값을 파악 하였다. 결과 : 연구 결과 상지 로봇 치료를 한 경우 팔 뻗기를 하는 동안 팔굽관절 움직임의 순발력, 효율성, 부드러움에서 향상을 보였으며, 과제 지향적 훈련(task-oriented training)과 비교 하였을 때 팔굽관절의 부드러움에서 유의한 차이를 보였다(p<.05). 결론 : 단기적 상지 로봇 치료는 아급성기 뇌졸중 환자의 팔뻗기 시 팔굽관절 움직임에 효과를 보였으며, 추후 장기적인 연구를 통해 상지 기능의 움직임 개선에 대한 효과 입증이 필요하다.