• 한국산학기술학회논문지
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• 제11권10호
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• pp.3658-3665
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• 2010

최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다.

• Journal of Oral Medicine and Pain
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• 제40권3호
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• pp.115-123
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• 2015

Purpose: The aim of this study was to elucidate the coordination patterns of the sternocleidomastoid and posterior cervical muscles in response to symmetrical and asymmetrical jaw functions in normal adults. Methods: Twenty-seven healthy volunteers (8 females, 19 males; mean age, $30.4{\pm}2.5$ years) participated in this study. Surface electromyography (EMG) was used to record activities in the masseter, suprahyoid, sternocleidomastoid, and posterior cervical muscles at rest and during maximum tooth clenching, biting of a cotton roll with the anterior teeth, unilateral biting of a cotton roll with the posterior teeth, bilateral biting of cotton rolls with the posterior teeth, and jaw opening while seated. Normalized amplitude, activity indices, and asymmetry indices were compared between the muscles and the jaw tasks. Results: During symmetrical jaw functions (e.g., tooth clenching, biting with the anterior teeth, bilateral biting with the posterior teeth, jaw opening), the sternocleidomastoid and posterior cervical muscles showed elevated EMG amplitudes compared with the resting condition. The co-activation pattern of the sternocleidomastoid muscle was more pronounced than those of the posterior cervical muscles during these tasks. During asymmetrical jaw functions (e.g., unilateral biting with the posterior teeth), the ipsilateral sternocleidomastoid and masseter muscles showed higher contraction activity than did the contralateral muscles, but the contralateral posterior cervical muscles were more active than the ipsilateral muscles. Conclusions: The sternocleidomastoid and posterior cervical muscles were shown to be co-activated and coordinated anteroposteriorly or bilaterally according to symmetrical or asymmetrical jaw function. These results suggest an integrated neural control mechanism for the jaw and neck muscles, and provide further evidence supporting the intimate functional coupling between the trigeminal and cervical neuromuscular systems.

• 전기학회논문지
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• 제57권9호
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• pp.1669-1673
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• 2008

A new cycle ergometer using a Magneto-Rheological (MR) rotary brake system has been developed for rehabilitation of hemiplegia patients to reduce uneven pedaling characteristics. For this purpose, a control method to adjust the resistance of the MR rotary brake in real time based on the magnitude of the muscular force exerted by the subject has been devised so that the mechanical resistance to the pedaling can be minimized when the affected leg was engaged for pedaling. A series of experiments were carried out with and without the engagement of this real-time control mode of MR rotary brake at different pedaling rate to find out the effect of the real-time control mode. The characteristics of the pedaling for these specific conditions were analyzed based on the variations in angular velocities of the pedal unit. The results showed that the variations in the angular velocities were decreased by 42.9% with the control mode. The asymmetry of pedaling between dominant and non-dominant leg was 19.63% in non-control mode and 1.97% in the control mode. The characteristics of electromyography(EMG) in the lower limbs were also measured. The observation showed that Integrated EMG(IEMG) reduced with the control mode. Therefore, the new bicycle system using MR brake with the real time control of mechanical resistance was found to be effective in recovering the normal pedaling pattern by reducing unbalanced pedaling characteristics caused by disparity of muscular strength between affected and unaffected leg.

• Physical Therapy Rehabilitation Science
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• 제10권2호
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• pp.167-174
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• 2021

Objective: Single leg bridge exercise (SLBE) improves trunk muscle activation and provides muscle stability by aligning joints related to posture. This preliminary study aimed to investigate the effects of SLBE on abdominal muscle activation in subacute stroke patients. Design: Cross-sectional study. Methods: Fifteen subacute stroke patients (9 males, 6 females) voluntarily participated in this study. SLBE was performed on the affected side. Each individual patient performed an SLBE ten times in three sets and was asked to hold their position for 5 s. Muscles activity was recorded using a surface electromyography (EMG) system before and after the SLBE. A surface EMG system was used to analyze the muscle activity during general bridge exercise, including the rectus abdominis (RA), internal oblique (IO), and external oblique (EO) abdominal muscles. Results: Muscle activity of both EO and IO on the affected side significantly increased (p<0.05), whereas the muscle activity of the RA and the three muscles on the unaffected side did not show a significant difference. In addition, improvement in muscle asymmetry of the EO and IO showed a significant change after SLBE (p<0.05). Conclusions: SLBE is effective in activating the abdominal muscles of stroke patients on the affected side and is a helpful exercise intervention that activates the muscles to transform asymmetric abdominal muscles into symmetric patterns.

• 한국운동역학회지
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• 제19권2호
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• pp.227-235
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• 2009

본 연구는 등산 폴 사용 여부와 걷는 지속시간 경과가 오르막 걷기에 미치는 영향을 규명하는 것이었다. 이러한 연구목적을 달성하기 위해 7명의 피험자가 동원되었고, 각 피험자들은 45분 동안 오르막 25%로 세팅된 트레드밀 위에서 3.5km/h의 속도로 폴 사용 여부에 따른 2회의 실험을 각각 수행하였다. 대퇴직근, 전경골근, 비복근, 대퇴이두근 등을 포함한 하지의 대표적인 4개 근육들에 대한 활동량이 EMG를 통해 획득되었고, 피험자의 심박수와 주관적 운동자각도가 15분 간격으로 기록되었다. 등산 폴 사용 여부와 걷는 지속시간이 경과됨에 따른 이러한 변인들의 통계적 유의성을 검증하기 위해 이원 급내 분산분석이 사용되었고, 이 때 통계적 유의수준은 P<.05로 설정하였다. 본 연구의 결과를 요약하면 다음과 같다 : 첫째, 4개의 개별 근육에 대한 적분근전도는 조건에 따라 통계적 차이가 나타나지 않았지만, 4개 근육을 합한 적분근전도는 폴을 사용한 경우가 사용하지 않은 경우보다 더 작게 나타났고, 시간 경과에 따른 차이점은 나타나지 않았다. 둘째, 심박수는 폴 사용 여부에 의한 차이는 없었지만, 걷는 지속시간이 경과됨에 따라 더 크게 나타났다. 셋째, 운동자각도의 경우, 폴을 사용했을 때가 그렇지 않았을 때보다 더 적게 나타났고, 걷는 지속시간이 경과됨에 따라 증가하는 것으로 나타났다.

• 재활복지공학회논문지
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• 제11권3호
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• pp.253-259
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• 2017

현재 뇌손상환자에게 시행되고 있는 재활치료들은 훈련 환경이 단조롭고 긴 시간 동안 단순하고 반복적인 운동으로 인해 흥미와 참여도가 떨어져 훈련 효율이 저하된다는 문제가 제기되었다. 이와 같은 문제를 해결하기 위해 본 논문에서는 상지 재활훈련을 위해 상지에서 측정되는 근전도 신호와 모션센서를 기반으로 하는 웨어러블 장치와 모바일 게임을 결합한 새로운 재활 프로그램 개발을 제안함으로 위에서 제기된 문제를 해결하고자 하였다. 개발된 웨어러블 장치는 밴드 형태로 제작되어 신체에 쉽게 착용 및 해체가 가능하고, 모바일 게임은 웨어러블 장치로부터 측정되는 근전도 신호를 통하여 인식되는 움켜잡는 행동(grasp motion)과 모션센서를 통하여 인식되는 굴곡(flexion), 신전(extension), 외전(abduction), 내전(adduction)을 반영하여 게임을 통한 재활훈련이 가능하도록 설계되었으며, 난이도 조절을 통한 환자 개개인에 적합한 맞춤형 재활환경을 제공할 수 있도록 하였다. 개발된 프로그램을 상지 재활이 필요한 14명의 뇌손상 환자를 대상으로 적용한 후, 설문조사를 통한 유용성 평가를 진행한 결과 개발된 재활프로그램이 기존 재활프로그램보다 흥미가 있었고 재활훈련 간 지루하지 않았다고 응답하였고, 추후 개발된 프로그램 재사용에 대한 의지를 보였다.

• 감성과학
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• 제6권4호
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• pp.9-14
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• 2003

수면단계는 수면감을 평가하는 데 있어서 중요한 생리지표로서 사용되어 왔다. 그러나 수면다원검사를 이용한 전통적 수면단계 분류방법은 뇌전도(electroencephalogram : EEG), 안전도(electrooculogram : EOG), 심전도(electrocardiogram : ECG), 근전도(electromyogram : EMG) 등을 종합적으로 측정하므로 수면단계를 비교적 정확히 분류할 수 있지만 피험자에게 심한 구속감을 주는 문제가 있다. 본 연구에서는, 각성상태에서 교감신경계가 지배적인 반면에 수면 중에는 부교감 신경계가 더 활동적인 점에 착안하여 수면단계를 간단히 분류할 수 있는 방법을 찾고자 수면단계에 따른 심박동변이도(heart rate variability : HRY)를 분석하였다. 이 실험에는 건강한 대학생 6명이 2일씩 전체 12회의 야간수면에 참여하였다. 수면다원검사 장치를 이용하여 피험자들이 수면을 취하고 있는 동안, EEG, EOG, ECG, EMG(턱 및 다리)를 측정하여 수면단계를 "Standard scoring system for sleep stage"에 따라 자동으로 분류하였다. 그런 뒤, 본 연구를 통하여 제작된 Sleep Data Acquisition/Analysis 시스템을 이용하여 수면다원검사 장치로부터 ECG신호만 추출하여 HRV의 전력스펙트럼을 3개의 영역[저주파수대역(low frequency : LF), 중간주파수대역(medium frequency : MF), 고주파수대역(high frequency : HF)]으로 나누어 분석하였다. 단일채널 ECG를 이용하여 수면단계별로 HRV의 LF/HF를 분석한 결과, W(wakefulness)단계가 2단계에 비하여 325%높게(p＜.05), 3단계에 비하여 628%높게(p＜.001), 4단계에 비하여 800%높게(p＜.001) 나타났으며, 4단계는 REM(rapid eye movement)단계에 비하여 427% 낮게(p＜.05), 1단계에 비하여 418% 낮게(p＜.05) 나타났다. 또한 LF/HF가 수면단계에 따라 변화하는 양상은 W, REM, 1, 2, 3, 4단계의 순으로 단조 감소하였다. 한편, 수면단계별 MF/(LF+HF)의 차이는 유의하지 않았으나 표본집단의 기술통계치를 살펴본 바 REM단계와 3단계의 평균치가 가장 높았다.치가 가장 높았다.

• 한국운동역학회지
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• 제27권3호
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• pp.197-203
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• 2017

Objective: The purpose of this study was to determine how exercise intensity affects muscle activity and kinematic variables during squat. Method: Fifteen trainers with >5 years of experience were recruited. For the electromyography (EMG) measurements, four surface electrodes were attached to both sides of the lower extremity to monitor the rectus femoris (RF) and biceps femoris. Three digital camcorders were used to obtain three-dimensional kinematics of the body. Each subject performed a squat in different conditions (40% one-repetition maximum [40%1RM], 60%1RM, and 80%1RM). For each trial being analyzed, three critical instants and two phases were identified from the video recording. For each dependent variable, one-way analysis of variance with repeated measures was used to determine whether there were significant differences among the three different conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results: The results showed that the average integrated EMG values of the RF were significantly greater in 80%1RM than in 40%1RM during the extension phase. The temporal parameter was significantly longer in 80%1RM than in 40%1RM and 60%1RM during the extension phase. The joint angle of the knee was significantly greater in 80%1RM than in 40%1RM at flexion. The range of motion of the knee was significantly less in 80%1RM than in 40%1RM and 60%1RM during the flexion phase and the extension phase. The angular velocity was significantly less in 80%1RM than in 40%1RM and 60%1RM during the extension phase. Conclusion: Generally, the increase of muscle strength decreases the pace of motion based on the relation between the strength and speed of muscle. In this study, we also found that the increase of exercise intensity may contribute to the increase of the muscle activity of the RF and the running time in the extension phase during squat motion. We observed that increased exercise intensity may hinder the regulation of the range of motion and joint angle. It is suitable to perform consistent movements while controlling the proper range of motion to maximize the benefit of resistance training.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• 대한통합의학회지
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• 제10권4호
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• pp.187-197
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• 2022

Purpose: This study aimed to investigate the changes in the muscle activity of the trunk stabilizer muscles before and after incorporating Pilates breathing during three types of Pilates chair exercises. Methods: This study included 33 healthy men and women in their 20's; they were recruited according to the inclusion and exclusion criteria. sEMG was used to measure the changes in the muscle activity in the internal oblique/transverse abdominis, rectus abdominis, and erector spinae during the three types of Pilates chair movements (footwork, twist footwork, and bridging) without and with the Pilates breathing integration. The muscle activities of the trunk stabilizers between without and with Pilates breathing were statistically analyzed and compared. Results: The internal oblique/transverse abdominis showed an increase and a significant difference in the muscle activity in all three movements of footwork, twist footwork, and bridging after the Pilates breathing integration (p<.001). The muscle activity of the rectus abdominis (p<.05) and the erector spinae (p<.05) also increased and showed a significant difference after the Pilates breathing incorporation, except in the bridging movement for the erector spinae. The increase in the rate after integrating Pilates breathing was relatively greater in internal oblique/transverse abdominis than in other muscles. Conclusion: When Pilates breathing was applied, the activities of the trunk stabilizer muscles increased significantly and immediately in all three movements of Pilates chair footwork, twist footwork, and bridging. This means that the use of breathing is expected to have a positive and immediate effect on the activation of trunk stabilizers, thus indicating that it can possibly be an effective re-enforcing tool to promote trunk stability when it is integrated to the Pilates chair exercise. Incorporating Pilates breathing also seemed to have a tendency to activate the deep trunk stabilizer muscles more than the superficial stabilizer muscles.