• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.233-238
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• 2014

In this paper, we developed a finger robot simulating spasticity and contracture which can be used as a testing bed for evaluating performance of hand rehabilitation devices while it can be also used to train clinicians for improving reliability of clinical assessment. The robot is designed for adult finger size and for independent control of Metacarpophalangeal Joint and Proximal Interphalangeal Joint. Algorithm for mimicking spasticity and contracture is implemented. By adjusting the parameters related to contracture and spasticity, the robot can mimic various patterns of responses observed in fingers with spasticity and contracture.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1180-1185
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• 2004

The purpose of this study is to develop a Multi-joint rehabilitation system (CMRS : C&R Lab. Multi-joint Rehabilitation System). This study presents the mechanism of rehabilitation system that enables rehabilitation of multi-joint with kinematical analysis for joints of human body. Also, the relative positioning between human subjects and the head part to rehabilitate for the mechanism is based on robotics and anatomy. This study was verified with simulations. Finally, Automation of positioning was realized. Rehabilitation exercises in passive mode were enabled with the results.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.15-22
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• 2012

The mechanical system of wearable walking assist robot needs to be optimized for adapting with human body structure and the planned control algorithm should have a secure procedure when a incongruity situation which can cause musculoskeletal injury occurs because a wearable robot is attached to a body. The understanding of walking or musculoskeletal motions characteristics must be preceeded and analyzed for developing novel wearable walking assist robot. In this study we tried to find out the capacities of powers and torques of joint actuators to design optimized performances of system and to obtain the analysis data to figure out the characteristics of joint movements during some types of walk. The major types of walk and motion are stair climbing and descending, sit-to-stand motion, and slope walking. In this study all these motions were analyzed experimentally except slope walking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.5
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• pp.503-515
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• 2011

We developed a walking-assistance robot for walking rehabilitation and assessed the kinematic characteristics of a prototype. The walking-assistance robot is composed of hip, knee, and ankle joints, and each joint is driven by a motor with a decelerator. The equations of angular displacement while walking were derived by theoretically analyzing human locomotion, and the calculated angular displacements were then applied to the robot controller. The output angular displacement of each joint was measured and compared with its input angular displacement in walking experiments on a treadmill at various walking speeds and strides. The differences between the input and output angular displacements are 5.22% for the hip and 2.97% for the knee joints, and it has been confirmed that the walking-assistance robot works well.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.1
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• pp.73-80
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• 2015

In this paper, we propose the robotic arm control method based on upper extremity electromyogram for lower upper extremity amputation patient. The muscle activity of the forearm flexor, forearm extensor and biceps was analyzed to utilize distribution of muscle activity to a specific position in order to the control input. This control input is converted into a control command for controlling the robotic arm through the algorithm. For the experiment and verify the proposed method, 5DoF robotic arm control system was constructed with 1 channel EMG Module and PC applications through the interworking with each module to perform a three-channel EMG analysis. For accuracy and performance evaluation of control, Experiments were performed with robotic arms moving objects. As a result of experiments which after training for 10 hours by middle 20's man, Validity of the proposed method was evaluated based an average accuracy of 92.5%.

• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.31-39
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• 2016

This paper describes the design of an ankle rehabilitation robot for the force measurement of a severe stroke patient staying in a bed ward. The developed ankle rehabilitation robot was attached to a three-axis force/torque sensor that could detect force Fx, Fz, and torque Tz and measure the ankle rotation force (Fx) exerted on the ankle and the signal force Fz and torque Tz to be used as a safety device. The robot was designed and manufactured for bedridden stroke patients, and the robot program was manufactured to perform the flexibility rehabilitation exercise for ankle bending and to measure the ankle force to judge the degree of rehabilitation. According to the result of the characteristics test of the developed rehabilitation robot, it was safely operated while the ankle-bending flexibility rehabilitation exercise and the emergency situation were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.3
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• pp.229-236
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• 2016

Magnetic sensors and actuators have been widely used in industry and medical fields. Integrated systems based on sensors and actuators are defined as mechatronics that is the general combination of mechanics and electronics. Recently, magnetic wireless sensors and actuators have been developed and used at a systematic level. In particular, their mechanisms depend on magnetic, such as magnetic material and physical phenomena. However, their research boundary has not been clear. Researchers talk of magnetic micro-robots, magnetic actuators and sensors. Therefore, a new and correct definition is required. In this study, we introduce the advanced and extended concept of mechatronics, which is a magneto-mechantronics for biomedical and rehabilitation. Among various applications, we focused on wireless pump and sensing system for blood vessel rehabilitation and local motion capture, respectively.

• Convergence Security Journal
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• v.19 no.3
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• pp.81-86
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• 2019

This study introduces trends on silver care implemented with the fourth industrial revolution technology, and discusses the use of digital technology for elderly health and rehabilitation by reviewing relevant literature to examine and present directions for future digital-based silver care commercialization. First, health smart home, which is a smart residential service available through digital technology or IT technology that supports independent living in your home, is available. Second, there are technical services using artificial intelligence(AI) and robots. Robots based on advanced intelligence can serve as an assistant for the health and rehabilitation of senior citizens by supporting services that enable the daily lives of senior, checking their health conditions, and high-quality medical care. For the commercialization of these silver care systems, information and services appropriate to the current situation, such as the physical ability and health status of the elderly, should be provided, and it would be desirable to gradually expand the use of essential technology to reflect the needs of the elderly in use so that the digital alienated.