• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.409-418
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• 2023

The purpose of this study is to evaluate the usability of the care robots to prevent pressure injury and to present directions for improvement. Thirty-two caregivers of severely disabled people and older adults with mobility difficulties participated in this study. They used the care robot in a real care environment for 2 weeks and conducted pre and post-care interviews. Based on the interview results, improvements were derived through the technical modeling method of care robots. Considering the circumstances in which caregivers take care of a large number of patients in nursing homes and hospitals, it is necessary to ensure the convenience and safety of remote control and side rail operation of the care robots to prevent pressure injury. We expect that the results of this study will be used as basic data for development of care robots to prevent pressure injury.

• Tuberculosis and Respiratory Diseases
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• v.45 no.6
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• pp.1178-1187
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• 1998

Background : Recently the incidence of tuberculosis is increasing in many countries and control of the disease is further threatened by the emergence of multi-drug resistant tuberculosis. So rapid detection of drug resistance is very important. Pyrazinamide (PZA) is a first-line chemotherapeutic agent for tuberculosis. Now in Korea, we perform PZase activity test instead of actual pyrazinamide susceptibility test for the detection of PZA resistant M. tuberculosis. Recently the pncA gene, encoding the PZase of M. tuberculosis, was completely sequenced. And it was reported that the mutation of pncA gene would be associated with PZA resistance of M. tuberculosis. Therefore we performed this study to evaluate the possibility for the rapid detection of PZA resistant M. tuberculosis using PCR-SSCP of pncA gene. Method : 44 cultured clinical isolates of M. tuberculosis, BCG Tokyo strain. BCG French strain, and one M. bovis isolate were studied. We used H37Rv as the reference strain, The PZase activity test was done at the reference laboratory of Korean Tuberculosis Institute. DNA was extracted by bead-beater method and 561 bp fragment including pncA gene was amplified by PCR. The PCR product were digested by BstB I enzyme. SSCP was done using MDE gel. Of the 44 strains of M. tuberculosis, 22 strains were PZase-positive and other 22 strains were PZase negative. Results : Of the 22 PZase positive strains, 18 strains(82%) showed the same mobility compared with that of H37Rv and 4(18%) showed different mobility. Of the 22 PZase-negative strains, 19(86%) strains showed the same mobility pattern compared with that of H37Rv and 3(14%) showed different mobility. Naturally PZA-resistant BeG-French strain, BCG-Tokyo strain, and one M. bovis isolate showed the same band pattern each other, but their mobility were different from that of H37Rv. The results of PZase activity test and PCR-SSCP of pncA of M. tuberculosis were statistically significantly correlated each other (p<0.01). Conclusion : The PCR-SSCP after BstB I restriction of pncA gene of M. tuberculosis may be a useful method for the rapid detection of PZA-resistant M. tuberculosis.

• Journal of Korean Physical Therapy Science
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• v.15 no.1
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• pp.67-74
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• 2008

A decrease in the ability to maintain static and dynamic balance after stroke could be related to the inability to select reliable sensory information in producing relative motor action needed to maintain postural stability. The purpose of this study was to compare the effects of two different types of surface conditions on the balancing ability of subjects with stroke. Eighteen hemiparetic subjects were assigned to an experimental and control group participating in a six－week rehabilitative therapeutic exercise program focusing on balance and mobility. Exercises were performed 3 to 5 times per week in a stable surface condition by the control group, and in an unstable surface condition by the experimental group. Pre－ and post test assessments involved the measurement of the static balance and dynamic balance, respectively by 7－item Berg Balance Scale－3P and by Pro－3 Balance System. Results showed that under the unstable surface condition, static balance in the experimental group showed more improvement than that of the control group.(Statistically, not very significant.) All the aspects of dynamic balance and mediolateral sway(balance) improved significantly than those of the control group. However, there were no significant differences between two groups. Overall, it can be concluded that under the unstable surface condition, the rehabilitative therapeutic exercise programs are effective in improving the dynamic balance of stroke subjects. The results suggest that the adaptation of the unstable surface in the rehabilitative therapeutic exercises could be effective for the patients with hemiplegia in balance. Further studies are needed to confirm the effectiveness of the unstable surface on improving balance and postural stability of hemiplegics.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.6
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• pp.63-69
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• 2009

The decentralized and open characteristic of the internet, along with the mobility and portability of mobile communication, and the interactivity of the internet and mobile communications all have been grafted to enable the creation of wireless internet in our lives, bringing about a lot of change. However, existing system management software solutions show limitations in time and space, as well as problems such as uncertain error messages, and also difficulty providing swift assistance or real time emergency support. Therefore, a wireless remote control system has been designed and implemented in this thesis, which is capable of managing and monitoring remote systems using mobile communication devices (Mobile Phone, PDA, Smart Phone, Webpad) for realtime control. The implemented real time wireless remote control system provides remote server management functions, error or event message functions, log record functions, authentication function via mobile devices and system performance evaluation function classified by client transaction.

• Journal of Korean society of Dental Hygiene
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• v.14 no.3
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• pp.363-370
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• 2014

Objectives : The purpose of the study is to investigate the effect of the oral hygiene care program in stroke patients. Methods : The subjects were 62 stroke patients of rehabilitation department in Youngnam University Hospital in Daegu. The study was carried out from January, 2010 to October, 2010. Intervention group was 35 and the control group was 31 patients. Tooth brushing instruction, oral health education and scaling were implemented in all patients at baseline. This program was conducted 5 times during hospitalization in intervention group. Results : In the intervention group, the mean age was 59.2 years, and women accounted for 66.7% and the control group consisted of 72.4% of women and mean age was 58.5 years. The average of the number of permanent teeth with experience of dental caries, the values of dental calculus index, plaque index, bleeding index and tooth mobility were 11.88, 11.79, 9.91, 3.16 and 1.16, respectively. The control group showed 10.21, 11.79, 9.91, 3.16 and 1.16, respectively. The proportion of subjects whose CPI was higher than 3 accounted for 97%, and the O'Leary index score was 38.6 in the intervention grou. The control group showed 100% and 38.79. Conclusions : Oral condition improved significantly in the intervention group in the third session. These findings may provide essential information for oral health program planning and implementation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2042-2047
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• 2005

Many service robots which is interacting with human at home and in buildings have been developed. Few of them are shown in of the United States and of Japan. These robots are supposed to have a powerful indoor navigation performance in places where human beings live and work. The overall capability of service robots to move around in this environment is called environment correspondence, in which localization problem to find the accurate position and orientation is the most critical problem. While users set up a proper or a best environment for industrial robots, but for services robots at home and in buildings, it is very difficult to change the environment for robots. The expanded workspace due to mobility is difficult to be covered by means of those used for industrial robots because the cost increases and human beings do not want their environment to be changed for robots. This fact has made many researchers study efficient and effective environment correspondence problems. Among these problems, localization is the most difficult. Goal of localization study includes (1) Accurate detection of position and orientation (2) Minimum cost of the additional devices (3) Minimum change of human environment. In this study, as a solution of the above, we propose "Artificial Stars" which are attached on room ceiling as landmarks. In addition, we solve an adoption problem raised when a robot is delivered to a customer site and before it can perform its full navigation capability. We call this as "Initialization Problem" of service robots. We solve the initialization problem for both cases of environment with the map and without map. The proposed system is experimented and has shown how well it handles the initialization problem.

• Journal of the Korean Society of Physical Medicine
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• v.11 no.4
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• pp.105-114
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• 2016

PURPOSE: This study is to investigate the therapeutic effect of Tetrax on balance dysfunction caused by ataxia in cerebellar stroke. METHODS: A total of thirty subjects with cerebellar stroke were recruited. The participants was divided into two groups, the experimental (n=15) and the control group (n=15). Tetrax training and conventional physical therapy (CPT) were performed in experimental group, whereas the patients in the control group were treated with CPT twice a day. Each session of the Tetrax and CPT was carried out for 30 minutes, 5 times per week for 4 weeks. Korean version of the Scale for the Assessment and Rating of Ataxia (K-SARA) was the primary outcome measure, and the secondary outcomes covered Berg balance scale (BBS), falling index (FI), Timed up and go (TUG), and modified Barthel index of Korean version (K-MBI). All outcome measures were evaluated before and after 4 weeks. RESULTS: K-SARA was decreased significantly after 4 weeks intervention in both the experimental (p<.05) and the control group (p<.05). Furthermore, the experimental group produced significantly better outcomes in K-SARA, BBS, FI, and TUG compared with the control group (p=.012, p=.027, p=.008, and p=.048). There were significant correlations between K-SARA and BBS, FI, TUG, and K-MBI (p<.001, p<.001, p=.004, and p<.001). CONCLUSION: The restoration of ataxia was related with the improvement of the balance, falling risk, mobility, and activity of daily living. Tetrax training was effectively aided recovery of ataxia after cerebellar stroke.

• Journal of International Academy of Physical Therapy Research
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• v.7 no.1
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• pp.908-914
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• 2016

The purpose of this study is to explore the effects of mobilization of C0-C1 and C7-T1 applied to asymptomatic individuals with reduced upper cervical rotation during the FRT. Design: parallel randomized controlled trial. 48 subjects(38.52 years${\pm}15.13$) with C1-C2 rotation hypomobility in TFR joined the study and were randomized into three groups(C0, C7, control group). FRT in both directions was measured before and after the intervention. C0 intervention consisted of a dorsal translatoric mobilization of C0-C1 in the cervical neutral position. C7 intervention consisted of a ventral cranial translatoric mobilization of C7-T1 in neutral position and the control group maintained a supine position. C0 group experienced a FRT ROM to the restricted side increase of $17.64^{\circ}$(SD=4.55), that was significantly greater (P<0.001) than $5.95^{\circ}$(SD=4.81) of the C7 group and $2.45^{\circ}$(SD=5.05) of the control group. The results showed that a dorsal translatoric mobilization of C0-C1 in neutral position restored the physiological FRT mobility in subjects with C1-C2 hypomobility and experienced statistical significant improvement in FRT as compared to a C7-T1 translatoric mobilization and a control group. (Level of evidence: 1b).

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.11
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• pp.5301-5323
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• 2017

Small cell deployment offers a low-cost solution for the boosted traffic demand in heterogeneous cellular networks (HCNs). Besides improved spatial spectrum efficiency and energy efficiency, future HCNs are also featured with the trend of network architecture convergence and feasibility for flexible mobile applications. To achieve these goals, dual connectivity (DC) is playing a more and more important role to support control/user-plane splitting, which enables maintaining fixed control channel connections for reliability. In this paper, we develop a tractable framework for the downlink SINR analysis of DC assisted HCN. Based on stochastic geometry model, the data-control joint coverage probabilities under multi-frequency and single-frequency tiering are derived, which involve quick integrals and admit simple closed-forms in special cases. Monte Carlo simulations confirm the accuracy of the expressions. It is observed that the increase in mobility robustness of DC is at the price of control channel SINR degradation. This degradation severely worsens the joint coverage performance under single-frequency tiering, proving multi-frequency tiering a more feasible networking scheme to utilize the advantage of DC effectively. Moreover, the joint coverage probability can be maximized by adjusting the density ratio of small cell and macro cell eNBs under multi-frequency tiering, though changing cell association bias has little impact on the level of the maximal coverage performance.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.