• 제목/요약/키워드: Independent Joint Control

검색결과 117건 처리시간 0.027초

기능적 과제를 통한 다관절 관절위치감각 훈련이 뇌졸중 환자의 관절위치감각, 균형, 보행능력에 미치는 효과 (The Effects of Multi Joint-Joint Position Sense Training Using Functional Task on Joint Position Sense, Balance, Walking Ability in Patients With Post-Stroke Hemiplegia)

  • 고경희;최종덕;김미선
    • 한국전문물리치료학회지
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    • 제22권3호
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    • pp.33-40
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    • 2015
  • The purpose of this study was to investigate the effect of multi joint-joint position sense (MJ-JPS) training on joint position sense, balance, and gait ability in stroke patients. A total of 18 stroke patients participated in the study. The subjects were allocated randomly into two groups: an experimental group and a control group. Participants in the experimental group received MJ-JPS training (10 min) and conventional treatment (20 min), but participants in the control group only received conventional treatment (30 min). Both groups received training for five times per week for six weeks. MJ-JPS is a training method used to increase proprioception in the lower extremities; as such, it is used, to position the lower extremities in a given space. MJ-JPS measurement was captured via video using a Image J program to calculate the error distance. Balance ability was measured using Timed Up and Go (TUG) and the Berg Balance Scale (BBS). Gait ability was measured with a 10 m walking test (10MWT) and by climbing four flights of stairs. The Shapiro-Wilk test was used to assess normalization. Within-group differences were analyzed using the paired t-test. Between-group differences were analyzed using the independent t-test. The experimental group showed a significant decrease in error distance (MJ-JPS) compared to the control group (p<.05). Both groups showed a significant difference in their BBS and 10MWT results (p<.05). The experimental group showed a significant decrease in their TUG and climbing results (p<.05), but the control group results for those two tasks were not found to be significant (p>.05). There was significant difference in MJ-JPS and by climbing four flights of stairs on variation of pre and post test in between groups (p<.05), but TUG and BBS and 10MWT was no significantly (p>.05). We suggest that the MJ-JPS training proposed in this study be used as an intervention to help improve the functional activity of the lower extremities in stroke patients.

로보트 운동에 대한 공간 좌표 제어 (Cartesian Coordinate Control of Robot Motion)

  • 노영식;우광방
    • 대한전기학회논문지
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    • 제35권5호
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    • pp.177-184
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    • 1986
  • An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

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한국군 주도의 연습모의체계 발전 연구 (A Study on Development of Exercise Simulation System out of regard for Korea's Armed Forces)

  • 박종재;이종호
    • 한국산학기술학회논문지
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    • 제11권9호
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    • pp.3271-3276
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    • 2010
  • 전시작전통제권 전환에 대비하여 한국군은 한반도에서 전쟁수행 능력을 갖추어야 한다. 한국군은 연합연습 모의훈련 체계를 구축하여 운영 중에 있으나, 독자적인 한국군 모델을 수행하는 것과 미군과의 연합 연습에 따른 상호운용에 많은 어려움이 있다. 이에 따라 본 논문에서는 기술적 대책이외에 브리지로 연결된 계층형 모의 구조를 이용한 한국군 주도의 연습모의체계 구축 방안을 제시한다.

환자의 손가락 특성을 모사하는 로봇 개발 (Development of Finger Robot for Simulating Fingers with Contracture and Spasticity)

  • 하도경;송민;박형순
    • 재활복지공학회논문지
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    • 제8권4호
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    • pp.233-238
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    • 2014
  • 본 논문에서는 손재활기기를 평가하고 신뢰도 높은 검진을 위해 검진자의 훈련용으로 사용할 수 있는 손가락 모사 로봇을 개발하였다. 먼저 실제 사람의 손가락 크기를 고려하여 손허리가락 관절(Metacarpophalangeal)과 첫마디뼈 관절 (Proximal Interphalangeal)을 구동할 수 있는 메커니즘을 설계하였고 이를 통해 뇌졸중과 같은 신경 손상 환자들에게서 나타나는 경직(spasticity)과 구축(contracture)현상을 모사하는 알고리즘을 구현하여 경직과 구축의 정도를 조절하여 다양한 환자들의 특징을 구현할 수 있도록 하였다.

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Observer Based Sensorless Rorce Control of Robot Manipulator

  • Suh, Il-Hong;Eom, Kwang-Sik;Lee, Chang-Eun
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.803-806
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    • 1997
  • In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

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Picture Quality Control by Priority Among Multiple Video Sources

  • KWON SOON-KAK;KWON OH-JUN
    • 한국멀티미디어학회논문지
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    • 제8권6호
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    • pp.744-752
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    • 2005
  • When the multiple video sources are transmitted together through the channel of fixed bandwidth, an efficient picture quality control is necessary. This paper presents a joint picture quality control method to satisfy the user requirement by priority among the video sources. The better picture quality is assigned to the source of higher priority compared to lower priority. We obtain the bitrate for each source to have a required distortion level among the sources by using an approximate distortion-bitrate model for simple implementation. It is shown by simulation that the proposed bandwidth allocation method can keep almost the user-required picture quality among the sources in comparison to an independent bandwidth allocation method.

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한의약 관절염관리프로그램이 골관절염 여성노인의 관절기능, 체력 및 자가관리수행에 미치는 효과 (Effects of Korean Medicine Based Arthritis Management Program on Joint Function, Physical Fitness and Self-Care of the Elderly Women with Osteoarthritis.)

  • 김영희;박금숙;정헌영
    • 대한예방한의학회지
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    • 제21권2호
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    • pp.105-116
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    • 2017
  • Objectives : The purpose of this study was to investigate the effects of Korean medicine based arthritis management program for community dwelling elderly women with osteoarthritis. Methods : A Nonequivalent control group pretest-posttest design was used for this study. Elderly people who agreed to participated in the study were assigned to a experimental group(n = 29) or a control group (n = 30). The Korean medicine based arthritis management program conducted for 12 weeks, 2 times a week. Study outcomes were measured by structured questionnaires from April, 2016 to July. For data analysis, independent t-test, Mann-Whitney U test and ANCOVA were performed using SPSS version 21.0. Results : Pain, stiffness, balance, strength of lower extremity, and self care activity were significant difference between the two groups in pretest and posttest(F = 8.23, p = 006), (F = 9.13, p = .004), (F = 5.74, p = .020), (F = 4.98, p = .030), (F = 8.47, p = .005). Conclusions : The Korean medicine based arthritis management program was effective on decreasing joint pain, stiffness, and increasing balance, strength of lower extremity and self care activity of community dwelling elderly women with osteoarthritis. This program was found to be useful in alleviating and managing joint symptoms of elderly women with osteoarthritis.

Joint wireless and computational resource allocation for ultra-dense mobile-edge computing networks

  • Liu, Junyi;Huang, Hongbing;Zhong, Yijun;He, Jiale;Huang, Tiancong;Xiao, Qian;Jiang, Weiheng
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제14권7호
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    • pp.3134-3155
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    • 2020
  • In this paper, we study the joint radio and computational resource allocation in the ultra-dense mobile-edge computing networks. In which, the scenario which including both computation offloading and communication service is discussed. That is, some mobile users ask for computation offloading, while the others ask for communication with the minimum communication rate requirements. We formulate the problem as a joint channel assignment, power control and computational resource allocation to minimize the offloading cost of computing offloading, with the precondition that the transmission rate of communication nodes are satisfied. Since the formulated problem is a mixed-integer nonlinear programming (MINLP), which is NP-hard. By leveraging the particular mathematical structure of the problem, i.e., the computational resource allocation variable is independent with other variables in the objective function and constraints, and then the original problem is decomposed into a computational resource allocation subproblem and a joint channel assignment and power allocation subproblem. Since the former is a convex programming, the KKT (Karush-Kuhn-Tucker) conditions can be used to find the closed optimal solution. For the latter, which is still NP-hard, is further decomposed into two subproblems, i.e., the power allocation and the channel assignment, to optimize alternatively. Finally, two heuristic algorithms are proposed, i.e., the Co-channel Equal Power allocation algorithm (CEP) and the Enhanced CEP (ECEP) algorithm to obtain the suboptimal solutions. Numerical results are presented at last to verify the performance of the proposed algorithms.

등뼈와 엉덩관절 가동성운동을 겸한 허리 안정성 운동이 만성 허리통증 여성 환자들의 통증과 균형에 미치는 영향 (Effects of Thoracic and Hip Joint Mobility Exercise and Lumbar Stability Exercise on Pain and Balance in Women with Chronic Back Pain)

  • 최윤경;김영민
    • 대한정형도수물리치료학회지
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    • 제29권2호
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    • pp.1-10
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    • 2023
  • Background: The purpose of this study was to evaluate the pain, static balance, and dynamic balance abilities of women with chronic low back pain by performing thoracic and hip joint mobility exercises and lumbar stability exercises. Methods: The subjects of this study were 20 adult women with low back pain who lived in C city for more than 12 weeks. The experimental group performed the thoracic and hip mobility exercises with lumbar stability exercises and the control group performed the lumbar stability exercise with general exercise program. Both groups participated in the exercise program three times a week for six weeks, from December 20, 2022 to March 7, 2023. The balance ability were measured using BT4, and pain was measured using visual analog scale (VAS). The collected data were analyzed by independent sample t-test and paired t-test using SPSS version 23.0 program. Results: After 6 weeks of intervention, there was a significant change in VAS between the experimental group and the control group, and there was no difference between the two groups (p>.05). In the case of balance ability, there was a no significant increase in the experimental group (p>.05). Conclusion: Thoracic and hip joint mobility exercises and lumbar stability exercises for adult female patients with chronic low back pain may be partially effective in static balance and dynamic balance.

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지능제어를 이용한 평면 여자유도 매니퓰레이터와 환경과의 상호작용에 관한 연구 (Study on Interaction of Planar Redundant Manipulator with Environment based on Intelligent Control)

  • 유봉수;김신호;조중선
    • 한국지능시스템학회논문지
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    • 제19권3호
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    • pp.388-397
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    • 2009
  • 로봇 매니퓰레이터를 이용한 대부분의 작업은 환경과의 상호작용을 요구하며, 위치제어, 충돌제어 그리고 힘제어로 구성된다. 위치제어는 환경에 도착하는 방법을 의미하고, 환경에 접촉하는 순간은 충돌제어 문제를 야기하며, 힘제어는 환경과의 충돌후에 원하는 힘궤적을 유지하는 것이다. 이러한 세 가지 제어문제는 순차적으로 발생하므로, 각각의 제어 알고리즘은 독립적으로 개발되어야 한다. 특히 여자유도 매니퓰레이터에서 이러한 세 가지 제어문제는 독립된 중요한 연구 주제이다. 예를 들어, 관절 토크 최소화와 충격힘 최소화는 여자유도 매니퓰레이터의 대표적인 연구주제이다. 본 논문에서는 단일 작업을 통하여 세 가지 제어문제를 구성하였다. 위치제어는 각 관절의 토크와 토크변화 그리고 충돌 시의 충돌힘 최소화를 위하여 개발되었다. 따라서 충돌제어의 초기조건은 이전의 위치제어 알고리즘으로부터 최적화 되고, 그러한 제어 전략은 충돌제어의 결과를 개선시킨다. 유사하게, 힘제어 문제의 초기조건은 이전의 위치제어와 충돌제어로부터 간접적으로 최적화된다. 힘제어 알고리즘은 각 관절 토크와 힘외란 최소화시키는 개념을 사용하였다. 모의실험 결과는 제안된 알고리즘의 타당성을 보여준다.