• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.11
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• pp.94-101
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• 2009

This paper poses tracking control and torque control methods to reduce torque ripple for bilateral symmetric trainers. As opposed to the conventional method, the torque control method for active joint movement is proposed. Using a step motor (PK296-03b, step angle: $1.8^{\circ}$), a simulator for a bilateral symmetric trainer is created, and the effectiveness of the proposed control method is verified through experiment results.

• Progress in Medical Physics
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• v.16 no.1
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• pp.1-9
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• 2005

The effect of the developed symmetric upper extremity motion trainer on the cortical activation pattern was investigated in three chronic hemiparetic patients using both fMRI and Fugl-Meyer test. The training program was performed at 1 hr/day, 5 days/week during 6 weeks. Fugl-Meyer tests were performed every two weeks during the training. fMRI was performed at 3T scanner with wrist flexion-extension in two different tasks before and after the training program: the only unaffected hand movement (Task 1) and passive movements of affected hand by the active movement of unaffected hand (Task 2). fMRI studies in Task 1 showed that cortical activations decreased in ipsilateral SMC but increased in contralateral SMC. Task 2 showed cortical reorganizations in bilateral SMC, PMA and SMA. Therefore, it seems that the cortical reorganization in chronic hemiparetic patients can be induced by the training with the developed symmetric upper extremity motion trainer.