• 센서학회지
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• 제25권1호
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• pp.27-34
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• 2016

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.

• 센서학회지
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• 제21권2호
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• pp.127-134
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• 2012

Stroke patients must do the rehabilitation exercise to recover their fingers' function using a rehabilitation robot. But the rehabilitation robots mostly have not the force sensors to control the applied force to each finger. Thus, in this paper, the development of a force sensor for thumb rehabilitation robot and four two-axis force sensors for four-finger rehabilitation robot were developed. The force sensor and four two-axis force sensors could be used to measure the applied force to each finger, and the forces could be used to control the applied forces to each sensor in rehabilitation exercise using in the rehabilitation robot. The developed sensors have non-linearlity error of less than 0.05 %, repeatability error of less than 0.03 %, and the interference error of two-axis force sensor is less than 0.2 %.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2012년도 추계학술발표대회
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• pp.1649-1652
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• 2012

본 연구에서는 사용자의 성격패턴을 사용자의 대화음성 정보만으로 자동 분류할 수 있는 방법과 이를 기반으로 사용자의 성격 맞춤형 학습전략을 적용하는 애플리케이션을 개발하는 것을 목적으로 하였다. 음성대화 속의 발화된 말의 빠르기(speech rate)나 말소리의 크기, 기본주파수(fundamental frequency)의 값과 그들의 변화패턴, 그리고 묵음구간의 여러 가지 통계적 정보 같은 비언어적 단서를 활용하여 성격패턴을 최고 86.3% 까지 정확하게 인식해 낼 수 있었다. 또한 성격 별 영어단어 학습방법을 개발하여 사전 및 사후테스트를 기반으로 실험한 결과 약 24% 성적 향상을 보였다. 이 연구를 통해 확보되는 원천기술은 각종 에듀테인먼트 콘텐츠에는 물론 로봇과의 대화시스템, 치료나 재활을 위한 기능성 콘텐츠 등에 유용하게 사용될 것이다.

• 한국산업융합학회 논문집
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• 제26권1호
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• pp.15-26
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• 2023

In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2020년도 제61차 동계학술대회논문집 28권1호
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• pp.189-192
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• 2020

본 논문은 요양원·요양병원에 입원한 노인들을 위한 실행능력중심 기능성 스마트 게임기기 및 데이터를 관리할 수 있는 시스템을 개발하고자 한다. 시스템은 증강현실 기반의 스마트맵, 동작 감응형 스마트 스틱, 스마트 명령과 연동하는 로봇, 이러한 게임 콘텐츠로 동작되는 모든 기기에서 나오는 데이터를 수집·관리·분석하는 정보 측정 및 분석 시스템으로 동작되는 시스템을 설계하였다. 이 시스템을 통해 한국이나 일본의 노인병원에서 간절히 필요로 하는 요양보호사 없이 노인들끼리 셀프 진행 가능하고 재미있는 기능성 콘텐츠의 수요를 만족시켜 줄 수 있을 것이다. 또한 치매와 같이 완벽한 치료가 불가능한 질병에도 증상악화를 늦추는 효과가 있으리라 예상한다. 향후 시스템을 개발하여 직접 실험을 하면서 다양한 데이터 수집을 통해 빅데이터로 활용하여 보다 전문적이고 효율적인 재활을 진행할 것이다.

• PNF and Movement
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• 제16권3호
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• pp.405-414
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• 2018

Purpose: The purpose of this study was to examine test-retest reliability and criterion-related validity of a trunk stability robot when measuring the weight-bearing symmetry static sitting and standing in stroke patients. Methods: For 27 stroke patients, weight-bearing symmetry was assessed twice, 7 days apart. The intraclass correlation coefficient (ICC2,1) and minimal detectable change (MDC) were used to examine the level of agreement between test and retest. The criterion-related validity of weight -bearing symmetry was demonstrated by Spearman correlation of modified Barthel index (MBI), the sit to stand test (STS), the timed up & go Test (TUG), and the function in sitting test (FIST). Results: the test-retest agreements were excellent for the weight-bearing symmetry of static sitting (ICC2,1: 0.90) and standing (ICC2,1: 0.89). It all showed that the acceptable MDC for the weight-bearing symmetry of static sitting and standing was 0.11 and 0.16, respectively (highest possible score<20 %), indicating that the measures had a small and acceptable degree of measurement error. The weight-bearing symmetry of static sitting was significantly correlated with the TUG(r=-0.45) and FIST(r=0.46)(p<0.05); the weight-bearing symmetry of static standing was also significantly correlated with MBI (r=0.65), TUG (r=-0.67), FIST (r=0.61)(p<0.01), and STS (r=-0.47)(p<0.05). Conclusion: The weight-bearing symmetry of static sitting and standing assessed by the trunk stability robot showed highly sufficient test-retest agreement and mild-to-moderate validity. It could also be useful for clinicians and researchers to evaluate balance performance and monitor functional change in stroke patients.

• 대한기계학회논문집A
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• 제34권10호
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• pp.1393-1401
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• 2010

본 논문은 인체 수관절 운동과 표면 근전도의 상관관계를 실험적으로 다룬다. 수관절의 해부학적 구조를 분석하여, 수관절 운동 형상을 파악하고 운동을 발생시키는 주요 근육을 선정하였다. 수관절 재활 훈련 장치를 이용하여 수관절 운동에 저항하는 토크를 가하고, 이 때 주요 근육에서 토크에 따른 표면 근전도 신호를 측정하였다. 측정된 표면 근전도 신호의 크기를 계산하여 수관절 운동과의 연관성 분석에 사용하였다. 실험 결과로부터 수관절 토크와 표면 근전도 신호의 크기가 토크 $0.1\;N{\cdot}m$ 이하의 수관절 운동에서는 선형적으로 비례함을 밝혔고, 수관절 근육의 단면적에 따라 표면 근전도 신호의 크기도 선형적으로 비례함을 확인하였다. 또한 수관절 운동에 관여하는 각 근육의 기여도를 분석한 결과, 각 운동을 발생시키는 가장 주도적인 2개의 근육 중에서 한 근육의 기여도가 약 60 %로서 일관성 있게 나타났다. 이러한 세 가지 실험 결과로 좀 더 정교한 수관절 재활 훈련 장치나 로봇 등을 제작하는데 응용할 수 있다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.948-956
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• 2010

The purpose of this study was to test the effectiveness of a prototype KAFO (Knee-Ankle-Foot Orthosis) powered by two artificial pneumatic muscles during walking. We had previously built powered AFO (Ankle-Foot Orthosis) and KO (Knee Orthosis) and used it effectively in studies on assistance of plantaflexion and knee extension motion. Extending the previous study to a KAFO presented additional challenges related to the assistance of gait motion for rehabilitation training. Five healthy males were performed gait motion on treadmill wearing KAFO equipped with artificial pneumatic muscles to power ankle plantaflexion and knee extension. Subjects walked on treadmill at 1.5 km/h under four conditions without extensive practice: 1) without wearing KAFO, 2) wearing KAFO with artificial muscles turned off, 3) wearing KAFO powered only in plantaflexion under feedforward control, and 4) wearing KAFO powered both in plantaflexion and knee extension under feedforward control. We collected surface electromyography, foot pressure and kinematics of ankle and knee joint. The experimental result showed that a muscular strength of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be lower due to pneumatic assistance and foot pressure of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be greater due to power assistance. In the result of motion analysis, the ankle angle of powered KAFO in terminal stance phase was found a peak value toward plantaflexion and there were difference of maximum knee flexion range among condition 2, 3 and 4 in mid-swing phase. The current orthosis design provided plantaflexion torque of ankle jonit in terminal stance phase and knee extension torque of knee joint in mid-swing phase.

• 한국의류학회지
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• 제48권2호
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• pp.312-327
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• 2024

In this study, a rehabilitation 3D printed wearable device was developed by combining an assembly-type robot hand and an integral-type robot hand through fused deposition 3D printing manufacturing with various hardness TPU (Thermoplastic Polyurethane) filaments. The hardware configuration of the robot hand includes a controller designed with four motors, one small servo motor, and a circuit board. In the case of the assembly-type robot hand model, a 3D printed robot hand was assembled using samples printed with TPU of hardness 87A and 95A. It was observed that TPU with a hardness of 95A was suitable for use due to shape stability. For the integrated-type robot hand model, the external sample using TPU of hardness 95A could be modified through a cutting method, and the hardware configuration is the same as the assembly-type. The system structure of the 3D printed robot hand was improved from an individual control method to a simultaneous transmission method.Furthermore, the system architecture of an integrated 3D printed robotic hand rehabilitation device and the application of the rehabilitation device were developed.

• 한국정밀공학회지
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• 제33권4호
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.