• Physical Therapy Rehabilitation Science
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• 제11권2호
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• pp.235-244
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• 2022

Objective: The aim of this study was to investigate of the foot plantar pressure and usability after gait training using the ExoAtlet wearable exoskeleton robot in an incomplete spinal cord injury (SCI) patient. Design: A case study Methods: Six participants with an asymmetry in motor and sensory function completed the gait training using ExoAtlet wearable exoskeleton robot for 15 sessions, five per weeks, 3weeks. They were divided into two groups (low and high strength group) and group differences were evaluated about session at stating of gait, gait distance at final session and foot plantar pressures and useability after training. Results: Low strength group was faster than high strength group on adaptation of robot gait. And high strength group increased faster than low strength group on the gait distance during training. In standing and gait, weaker leg was higher than stronger leg on mean foot plantar pressure in low strength group. And stronger leg was higher than weaker leg on foot plantar pressure in high strength group. The length of the anterior-posterior trajectory of the center of pressure during gait was similar in low strength group, but different in high strength group. useability was positive about ExoAtlet wearable exoskeleton gait after training. Conclusions: ExoAtlet wearable exoskeleton robot gait training was positive about improving gait in all participants regardless of differences in severity of symptoms and gait abnormalities.

• PNF and Movement
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• 제19권1호
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• pp.67-77
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• 2021

Purpose: The purpose of the study was to identify the effects of proprioceptive neuromuscular facilitation (PNF) training and robot rehabilitation training on trunk stability and standing balance in individuals with chronic stroke. Methods: There were 30 patients with chronic stroke, divided into two groups: 15 subjects who received PNF and robot training (the experimental group) and 15 subjects who received standard conservative training (the control group), that participated. The experimental group received treatment for 60 min: 30 min of conventional physical therapy, 15 min of PNF training, and 15 min of robot training. The control group received conventional physical therapy for 60 min. Trunk stabilization (trunk impairment scale) and standing balance (center of pressure, limit of stability, modified functional reach test, and Berg balance scale) were measured before and after intervention. Results: Within each group, both the experimental and control groups significantly improved after the intervention in all tests; however, the experimental group showed greater improvement in scores on the trunk impairment scale, the center of pressure, the limit of stability, the modified functional reach test, and the Berg balance scale. Conclusion: The study verified that PNF training and robot training had a positive influence on trunk stability and standing balance indices in patients with chronic stroke.

• The Journal of Korean Physical Therapy
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• 제31권2호
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• pp.94-102
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• 2019

Purpose: This study examined the effects of trunk control rehabilitation robot training (TCRRT) on the dynamic balance, lower extremity strength, gait ability and pain for bipolar hemiarthroplasty. Methods: Hemiarthroplasty (n=28) patients participated in this study. The subjects were randomized into two groups: trunk control rehabilitation robot training group and control group. Results: The TCRRT group showed significantly more improvement in the MFRT, MMT, 10MWT, TUG, and VAS compared to that before intervention (p<0.05). In addition, all tests were significantly greater in the experimental group than in the control group. Conclusion: These results suggest that TCRRT is feasible and effective for improving the dynamic balance, lower extremity strength, gait ability, and pain efficacy after bipolar hemiarthroplasty.

• 대한통합의학회지
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• 제10권1호
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• pp.91-99
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• 2022

Purpose : The goal of this study is to examine the effect of robot assisted gait training (RAGT) on the kinematic factors (temporospatial gait parameters, gait cycle ratio, and gait line length) of gait in stroke patients. Methods : The subjects of this study were 24 stroke patients selected by inclusion criteria. Participants were randomly allocated to two groups: robot assisted gait training (n=11) and general neurological physical therapy group (n=11). In the robot-assisted gait training group, robot-assisted gait training was mediated for 30 minutes a day in addition to general neurological physical therapy. The general neurological physical therapy group was mediated by general neurological physical therapy for 30 minutes a day in addition to general neurological physical therapy. The number of interventions was 5 times a week for 5 weeks. In order to compare the kinematic factors of walking between the two groups, gait analysis was performed before and after 5 weeks of training using the Zebris gait analysis system. Results : As a result of the gait analysis of the two groups, there were significant differences in temporospatial gait variables (step length, stride length, step width, step time, stride time), gait cycle ratio (swing phase, stance phase) and gait line length. However, there was no significant difference in the cadence (temporospatial gait parameters) in the robot assisted gait training group compared to general neurological physical therapy group. Conclusion : It is considered to be a useful treatment for stroke patients to promote the recovery of gait function in stroke patients. Based on the results of this study, continuous robot assisted gait training treatment is considered to have a positive effect on gait ability, the goal of stroke rehabilitation. In the future, additional studies should be conducted on many subjects of stroke patients, the kinematic factors of the legs according to the severity of stroke and treatment period, and the effect of gait training.

• The Journal of Korean Physical Therapy
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• 제28권2호
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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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권11호
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• pp.2880-2900
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• 2012

Robot programming often sparks students' interest in programming, but it is not easy for them to program both procedure and reactivity of robot movements that are essential requirements. In this study, we reviewed in detail a new programming language, State-Based Squeak. It allows novice students to implement both procedure and reactivity of robots easily. The effect of this new language on robot programming education was also examined using a group of 28 middle school students. According to the results of analyzing the students' understanding of programming, reading and programming abilities the group that used State-Based Squeak (the experimental group) showed a higher completion ratio than the other (control) group. The significance of this study is that a robot programming language has been developed that addresses the concepts of both procedure and reactivity in such a way that middle school students can more easily learn how to program robots, something that is often difficult to attempt even for professional programmers.

• 로봇학회논문지
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• 제11권2호
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• pp.41-50
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• 2016

This paper describes the effect of a robot cognitive rehabilitation program on cognitive functions for the elderly with mild cognitive impairment, and compares it with traditional cognitive therapy programs. Three experiment groups including cognition therapy group, robot cognitive rehabilitation group, and hybrid group have been sampled and one comparative group has been organized for this research. 32 old people whose ages are between 61 and 88 with mild cognitive impairment participated in the programs with an admission of W care hospital. According to the program results, the cognitive therapy program alone had shown a positive effect on the attention function, and the robot cognitive rehabilitation program alone had a positive effect on the total intelligence and memory function. However, a simultaneous operation with both programs had shown a positive effect on the three intelligence areas such as total, basic, and management quotients as well as attention and memory functions as subsidiary factors. This paper has verified that the proposed robot cognitive rehabilitation program makes a positive effect on a cognitive function and plays a complementary role with traditional cognitive therapy programs.

• Physical Therapy Rehabilitation Science
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• 제6권3호
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• pp.106-112
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• 2017

Objective: Robot assisted gait training is implemented as part of therapy for the recovery of gait patterns in recent clinical fields, and the scope of implications are continuously increasing. However clear therapy protocols of robot assisted gait training are insufficent. The purpose of this study was to investigate the effects of robot-assisted gait training applied with guidance force on balance and gait performance in persons with hemiparetic stroke. Design: Two group pre-test post-test design. Methods: Nineteen persons were diagnosed with hemiparesis following stroke participated in this study. The participants were randomly assigned to the unilateral guidance group or bilateral guidance group to conduct robot-assisted gait training. All participants underwent robot-assisted gait training for twelve sessions (30 min/d, 3 d/wk for 4 weeks). They were assessed with gait parameters (gait velocity, cadence, step length, stance phase, and swing phase) using Optogait. This study also measured the dynamic gait index (DGI), the Berg balance scale (BBS) score, and timed up and go (TUG). Results: After training, BBS scores were was significantly increased in the bilateral training group than in the unilateral guidance group (p<0.05). Spatiotemporal parameters were significantly changed in the bilateral training group (gait speed, swing phase ratio, and stance phase ratio) compared to the unilateral training group (p<0.05). Conclusions: The results of this study suggest that robot-assisted gait training show feasibility in facilitating improvements in balance and gait performance for subacute hemiparetic stroke patients.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권3호
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• pp.327-336
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• 2004

In distributed autonomous mobile robot system, each robot (predator or prey) must behave by itself according to its states and environments, and if necessary, must cooperate with other robots in order to carry out a given task. Therefore it is essential that each robot have both learning and evolution ability to adapt to dynamic environment. This paper proposes a pursuing system utilizing the artificial life concept where virtual robots emulate social behaviors of animals and insects and realize their group behaviors. Each robot contains sensors to perceive other robots in several directions and decides its behavior based on the information obtained by the sensors. In this paper, a neural network is used for behavior decision controller. The input of the neural network is decided by the existence of other robots and the distance to the other robots. The output determines the directions in which the robot moves. The connection weight values of this neural network are encoded as genes, and the fitness individuals are determined using a genetic algorithm. Here, the fitness values imply how much group behaviors fit adequately to the goal and can express group behaviors. The validity of the system is verified through simulation. Besides, in this paper, we could have observed the robots' emergent behaviors during simulation.

• 아동학회지
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• 제31권1호
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• pp.267-282
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• 2010

The purpose of this study was to examine the usability of a robot in kindergartens and the children's perceptions of that robot. In order to answer these questions, a field study, picture drawing and interviews were conducted over twelve days in a kindergarten located in Seoul. Our results indicated that children were likely to use the robot in a group and girls tended to use it more than boys. Children's affection towards the robot was positive and they perceived the robot mostly in terms of a friend. Finally, the picture drawing activity differed according to the usability level. Children who were in the high usability level grouping engaged more with educational content and storytelling while the low usability level grouping utilized the robot for singing in a large group.