• Journal of Internet Computing and Services
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• v.14 no.6
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• pp.33-39
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• 2013

When the eldery with limited mobility and disabled use a wheelchairs to move, it can cause decreased exercise ability like decline muscular strength in upper limb and lower extremities. The disabled people suffers with spinal cord injuries or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. In this paper, We designed intelligent wheelchair robot system for upper limb and lower extremities exercise/rehabilitation considering the characteristics of these severely disabled person. The system consists of an electric wheelchair, biometrics module for Identification characteristics of users, upper limb and lower extremities rehabilitation. In this paper, describes the design and configurations and of developed robot. Also, In order to verify the system function, conduct performance evaluation targeting non-disabled about risk context analysis with biomedical signal change and upper limb and lower extremities rehabilitation over wheelchair robot move. Consequently, it indicate sufficient tracking performance for rehabilitation as at about 86.7% average accuracy for risk context analysis and upper limb angle of 2.5 and lower extremities angle of 2.3 degrees maximum error range of joint angle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1427-1428
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• 2011

• Journal of Biomedical Engineering Research
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• v.45 no.2
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• pp.66-74
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• 2024

This study analyzed the occurrence of abnormal muscle coactivations based on the assistance of upper limb weight during reaching task in stroke patients. Nine chronic stroke survivors with hemiplegia performed reaching tasks using a programmable haptic robot. Electromyography (EMG) coactivation levels in the upper limb muscles were analyzed using a linear model describing the activation levels of two muscles when the patient's upper limb weight was assisted at 0%, 25%, and 50%. As the upper limb weight assistance of the haptic robot decreased, the magnitude of the EMG signal in both the deltoid and biceps muscles increased simultaneously on both the paretic and non-paretic sides. However, no difference was found between the paretic and non-paretic sides when comparing the slope of the linear model describing the activation relationship between the deltoid and biceps. The aforementioned results suggest that in some stroke survivors, the deltoids, triceps, and biceps on the paretic side may not be abnormally coupled when supporting the upper limbs against gravity. Furthermore, these results suggest that the combination of haptic robots and EMG analysis might be utilized for evaluating abnormal coactivations in stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.510-517
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• 2015

For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.

• 재활복지
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• v.17 no.4
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• pp.401-420
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• 2013

This study was performed to investigate the impact of the Neurocognitive Rehabilitation Therapy on the upper limb function recovery of patients with stroke and their abilities to perform daily activities and to provide basic data for a long-term treatment. A total of 30 patients with hemiplegia that occurred due to stroke were recruited as subjects of the present study, and 15 patients were randomly assigned to a Neurocognitive Rehabilitation Therapy group and a conventional treatment group, respectively. And, tests were performed over four weeks, five times a week, and 30 minutes a session. Manual Function Test(MFT), Fugl-Meyer Assessment Scale(FMA), and Korean-Modified Bathel Index(K-MBI) were used to measure the degree of the functional recovery before and after the experiment. According to the data of this study, in the upper limb function test, the Neurocognitive Rehabilitation Therapy group showed significant increase of the measurement values of MFT and FMA(p <.05), and when the difference between the two groups were compared, the upper limb function showed a statistically significant difference. In the daily activity performance test, only the Neurocognitive Rehabilitation Therapy group showed a significant improvement of K-MBI value(p <.05). Based on the results of the present study, it was demonstrated that the Neurocognitive Rehabilitation Therapy was effective in enhancing the upper limb functions and daily activity performance of patients with stroke.

• The Journal of Korean Physical Therapy
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• v.23 no.3
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• pp.7-12
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• 2011

Purpose: The cane is one of the most popular assistive devices for stroke patients. Clinical complaints of sensorimotor functions on the ipsilateral upper limb were appealed in stroke patients who had used a cane for a long period. Therefore, we investigated whether cane usage for a long-term period affected sensoriomotor dysfunctions on the non-affected upper limb, in terms of pain presence, shoulder joint sense, a nine-hole pegboard test, and a tracking task. Methods: We recruited 12 stroke patients, who were divided into the cane-using (CU) group or the non-cane using (NCU) group, according to cane usage experience. We evaluated joint position sense for the integrity of proprioceptive reposition sense in the shoulder joint, used a nine-hole pegboard test for upper limb dexterity evaluation, and a tracking task for visuomotor coordination. Results: Four patients in the CU group had complained of shoulder pain none did in the NCU group. In addition, the CU group showed more reposition errors on the shoulder joint than the NCU group did. In addition, the CU group had more difficulty in proprioceptive sense perception and in performance of the nine-hole pegboard teat and tracking task, compared with the NCU group. Conclusion: Our findings suggest that cane usage for a long period in stroke patients could give rise to trigger joint pain and decrease proprioceptive sense. In addition, complex motor performance in the ipsilateral upper limb could deteriorate. In stroke patients who had used acane for long period, careful observation and proper intervention will be necessary.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.8 no.2
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• pp.21-29
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• 2013

Objectives : The purpose of this study is to investigate the relation between cervical spine lateroflexion and upper limb numbness after whiplash injury by traffic accident. Methods : Outpatients who visited Jaseng korean medicine hospital after traffic accident took cervical MRI. Patients who had Normal disc and bulging disc were reviewed to measure the cervical lateroflexion by C2-C7 Cobb's angle & scalenus muscle's length through neutrality AP X-ray views. For statistics, we used SPSS version 18.0 for windows. Results : Groups classified into difference of scalenus muscle's length were showen statistical significance than into cobb's angle. Means of numbness group's length difference are $4.18{\pm}2.26mm$ and that of non-numbness group is $1.59{\pm}1.17mm$. Unilateral numbness group had greater angle and longer of length's difference than non-numbness group. Conclusions : The more severe the lateroflexion of the upper extremity numbness occurs well. Group classifed into difference of scalenus muscle's length has more tendency of occurrence of upper limb numbness than that into cobb's angle. And upper limb numbness occurs more frequently at the same direction of lateroflexion.

• Journal of International Academy of Physical Therapy Research
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• v.1 no.2
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• pp.185-191
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• 2010

Background: This study investigated effective posture for gluteus medius rehabilitation training and effects of isometric muscle activity by electrophysiology through EMG while performing dynamic isotonic behavior of weight placed differently on upper limbs. Method: 16 healthy male subjects 20 to 29 years of age volunteered for the study. Lateral stabilizer right gluteus medius activity was assessed using EMG while the right lower extremity maintains single limb support, and the left upper extremity elevation movement maintains 5 seconds without load, 1RM to 1 repetition, 5RM to 5 times, 10RM to 10 times, 5RM and 10RM maintain 5sec. Results: Comparison of the mean value of EMG data showed a statistically more significant difference in upper extremity elevation movement on opposite upper extremity added weight than one that was not added on a single limb weight bearing posture(p>.05). Weight supported side gluteus medius activity for 1RM, 5RM, 10RM weight difference and movement repetition did not differ(p>.05). Comparison in maximum value showed statistically significant differences in not adding weight on upper limb elevation exercise and 1RM, 5RM, 10RM repeated behavior. Elevation behavior and repetition appeared over 70% of MVIC. Conclusion: Unilateral weight bearing stance added weight in the opposite upper limb elevation movement was an indirect exercise to effectively stimulate gluteus medius activity. Applying various added weight will have effective exercise on the early stages of rehabilitation because activity gluteus medius did not differ through added weight.

• Journal of The Korean Society of Integrative Medicine
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• v.9 no.3
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• pp.9-18
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• 2021

Purpose : In this study, we applied a computerized cognitive rehabilitation program (CoTras-C) for children with cerebral palsy. Research was conducted to investigate the impact of upper limb function, sensory function, and activities of daily living. Methods : The study period lasted 10 weeks from October 2019 to December 2019. The study subjects were 12 subjects according to the selection criteria, and a computerized cognitive rehabilitation program (CoTras-C) was conducted twice a week for 30 minutes before and after the application of basic occupational therapy. Results : As a result of the computerized cognitive rehabilitation program, scores of upper limb function (QUEST), sensory function (SSP-2), and daily life activity (WeeFIM) were significantly improved (p>.05). From the result of examining the motor area, improvement in fine-motor function and protective extension through touch pad or controller operation was found. It also showed improvement in activities of daily living including motor and activities of daily living including social cognition. In the sensory function evaluation, it was not significant in movement sensitivity. Significant differences were shown in the items excluding olfactory/taste sensitivity. Conclusion : The application of the computerized cognitive rehabilitation program (CoTras-C) showed significant results in upper limb function, sensory function, and daily life activities of children with brain lesions. Based on these results, future studies need to generalize the study by expanding the age or population of children with brain lesions, or by expanding the diversity of diseases and environments.