• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1500-1503
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• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

• The Journal of Korean Physical Therapy
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• v.28 no.2
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• pp.71-76
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• 2016

Purpose: This study was conducted to assess the effects of robot-assisted gait training with visual feedback on gait, balance, and balance confidence in patients with chronic stroke. Methods: Thirty subjects with chronic stroke were randomly assigned to two groups: the experimental group (n=15) and the control group (n=15). The experimental group performed robot-assisted gait training for 30 minutes and the control group performed gait training with assisted devices training for 30 minutes after both groups performed conventional physical therapy for 30 minutes. Both groups performed the therapeutic interventions for 5 days per week, for a period of 4 weeks. For assessment of the 10 m walking test (10 MWT), Figure of 8 on the walk test (F8WT), Timed-Up and Go test (TUG), and Berg Balance Scale (BBS) were used to test the gait and balance, and the Korean version of the Activities-specific Balance Confidence Scale was used to test the balance confidence. Results: The experimental group showed significant improvement in the 10 MWT and the K-ABC (p<0.05), and the control group showed significant improvement in the BBS and the TUG (p<0.05). In four measurements, there were significant differences between the two groups (p<0.05), and the control group showed significant improvement in the F8WT at pre and post intervention (p<0.05). Conclusion: This study demonstrated that Robot-assisted gait training with visual feedback is an effective intervention for improving straight gait abilities and balance confidence, while the control group showed some improvement in curve gait and balance. Thus, we suggest both Robot-assisted gait training with visual feedback and gait training with assisted devices training exercise as a therapeutic intervention in chronic stroke rehabilitation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.959-960
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• 2011

• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.471-477
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• 2022

Objective: The greatest motor impairment after stroke is a decreased ability to walk. Most stroke patients achieve independent gait, but approximately 70% do not reach normal speed, making it difficult to reach a standard of daily living. Therefore, a wearable exoskeleton is recommended for optimal independent gait because different residual disorders hinder motor function after stroke. This review synthesized the effect on gait speed in randomized controlled trials (RCTs) in which gait training using a wearable exoskeleton was performed on post-stroke patients for qualitative and quantitative analysis. Design: A systematic review and meta-analysis of a randomized controlled trials Methods: RCTs using wearable exoskeletons in robotic rehabilitation of post-stroke patients were extracted from an international electronic database. For quality assessment and quantitative analysis, RevMan 5.4 was used. Quantitative analysis was calculated as the standardized mean difference (SMD) and presented as a random effect model. Results: Five studies involving 197 post-stroke patients were included in this review. As a result of the analysis using a random effect model, gait training using a wearable exoskeleton in post-stroke patients showed a significant improvement in gait speed compared to the non-wearing exoskeleton (SMD=1.15, 95% confidence interval: 0.52 to 1.78). Conclusions: This study concluded that a wearable exoskeleton was more effective than conventional gait training in improving the gait speed in post-stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• Physical Therapy Rehabilitation Science
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• v.9 no.2
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• pp.105-112
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• 2020

Objective: To investigate the effects of training using a trunk control robot (TCR) system combined with conventional therapy (CT) on balance and gait abilities in persons with chronic stroke. Design: Two-group pretest-posttest design. Methods: Thirty-five subjects with chronic stroke were randomly assigned to either the TCR group (n=17) or the trunk extension-training (TET) group (n=18). Both groups performed CT for 30 minutes, after which the TCR group performed TCR training and the TET group performed trunk extension training for 20 minutes. Both groups performed the therapeutic interventions 3 days per week for 6 weeks. Balance ability was evaluated using the Berg Balance Scale (BBS), and the Timed Up-and-Go (TUG) test. Gait ability was measured using the 10 m Walk Test (10MWT) and the NeuroCom Smart Balance Master. Results: TCR group showed significant improvements in static balance (weight bearing) and dynamic balance (weight shifting speed, weight shifting direction, BBS, and TUG), 10MWT, gait speed, and step width (p<0.05); step length was not significant. The TET group showed a significant partial improvement of dynamic balance (weight shifting speed, weight shifting direction, BBS, and 10MWT (p<0.05), but the improvements in static balance, TUG, gait speed, and step width and step length was not significant. Additionally, significant differences in static balance, dynamic balance (weight shifting speed, weight shifting direction, BBS, and TUG), 10MWT, gait speed, and step width were detected between groups (p<0.05). Conclusions: TCR training combined with CT is effective in improving static and dynamic balance, as well as gait abilities in persons with chronic stroke.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1781-1785
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• 2004

In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

• PNF and Movement
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• v.21 no.1
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• pp.1-10
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• 2023

Purpose: This systematic review aims to determine whether robot-assisted training is more effective in gait training for persons with subacute hemiparetic stroke. Methods: This study adopted a systematic review study design focused on subacute hemiparetic stroke, and four core academic databases were searched until June 11, 2021, for relevant studies, including PubMed, Embase, the Cochrane Library, and ProQuest Central. The review included randomized controlled trials (RCTs) evaluating the effects of robotic-assisted training on gait performance in persons with a diagnosis of subacute hemiparetic stroke. The selected RCT studies were qualitatively synthesized based on the population, intervention, comparison, outcome, settings, and study design (PICOS-SD). Results: The study selected five RCTs involving 253 subacute hemiparetic stroke patients and performing robotic-assisted gait training using the following devices: the Lokomat, Morning Walk, Walkbot, ProStep Plus, or Gait Trainer II. Five RCTs were eligible for the meta-analysis after quantitative synthesis, and the results showed that the robot-assisted gait training group had a greater gait performance than the control group based on the 10-meter walk test, Berg balance scale, Rivermed mobility index, functional ambulation category, and modified Barthel index. Conclusion: The results of this study showed that the gait performance of subacute hemiparetic stroke patients changes throughout robot-assisted gait training, but there were no indications that any of the clinically relevant effects of robot-assisted training are greater than those of conventional gait training. Further, the small sample size and different therapeutic intensities indicate that definitive conclusions could not be made.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.730-736
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• 2012

Latest, many researchers do research on wearable robot. The purpose of the researches is very diverse, it will improve efficiency in the industry, taken to replace the many workers in the military field and taken to assist bodily functions run out by aging. However, there is no clear Differentiated strategy depending on the purpose for design and control of the wearable robot. Although a common purpose is to drive the robot by the sensor signal (intent signals), the optimization about the mechanism and control studies must be done according to the user's physical ability and purpose. In this study, the study's first phase for the development of wearable robotic gait rehabilitation, gait characteristics were analyzed elders and hemiplegia patients using a 3D gait analysis system (VICON512). As a result, asymmetric gait characteristics of the hemiplegia patients were found compared with the normal elderly.