• 대한의용생체공학회:의공학회지
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• 제43권6호
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• pp.375-381
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• 2022

Brain-computer interface (BCI) is a technology that allows users with motor disturbance to control machines by brainwaves without a physical controller. Motor imagery (MI)-BCI is one of the popular BCI techniques, but it needs a long calibration time for users to perform a mental task that causes high fatigue to the users. MI is reported as showing a similar neural mechanism as motor execution (ME) and motor observation (MO). However, integrative investigations of these three tasks are rarely conducted. In this study, we propose a new paradigm that incorporates three tasks (MI, ME, and MO) and conducted a comparative analysis. For this study, we collected Electroencephalograms (EEG) of motor imagery/execution/observation from 28 healthy subjects and investigated alpha event-related (de)synchronization (ERD/ERS) and classification accuracy (left vs. right motor tasks). As result, we observed ERD and ERS in MI, MO and ME although the timing is different across tasks. In addition, the MI showed strong ERD on the contralateral hemisphere, while the MO showed strong ERD on the ipsilateral side. In the classification analysis using a Riemannian geometry-based classifier, we obtained classification accuracies as MO (66.34%), MI (60.06%) and ME (58.57%). We conclude that there are similarities and differences in fundamental neural mechanisms across the three motor tasks and that these results could be used to advance the current MI-BCI further by incorporating data from ME and MO.

• 한국인터넷방송통신학회논문지
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• 제15권6호
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• pp.71-77
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• 2015

다중 모터를 효과적으로 제어하기 위하여 신호 측정 및 제어 알고리즘 수행 관련 스케쥴링 방법을 제안하고 제어 성능을 검토한다. 차량 내 전자제어시스템과 연계되어 동작하는 다중 모터 제어기는 CAN(Controller Area Network) 통신을 통하여 위치/속도 지령 값을 전달 받고 각 모터에 대한 위치/속도 제어, 전류 제어 등을 수행한다. 하나의 마이크로컨트롤러를 이용하여 다수 대 모터를 효과적으로 제어하기 위하여 내부 자원과 알고리즘 수행에 대한 적절한 스케쥴링이 중요하다. ADC(Analog to Digital Converter) 타이밍과 제어 알고리즘 수행 타이밍을 다양하게 변화시키며 실제 실험을 통하여 다중 모터 제어기의 성능을 분석한다.

• The Journal of Korean Physical Therapy
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• 제29권1호
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• pp.27-32
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• 2017

Purpose: Recent electrophysiological studies have shown that the sensorymotor cortex is activated during both actual action excuted by themselves and observation of action performed by other persons. Observation of action based on mirror neuron system can be used as a cognitive intervention to promote motor learning. The purpose of this study was to investigate the brain activity changes during action observation and action execution using EEG. Methods: Thirty healthy volunteers participated and were requested to perform hand action and to observe the video of hand action performed by another person. The EEG activity was evaluated by a method which segregated the time-locked for each condition. To compare the differences between action observation and execution, the Mu suppression and the relative band power were analysed. Results: The results showed significant mu suppression during the action observation and execution, but the differences between the two conditions were not observed. The relative band power showed a significant difference during the action observation and execution, but there were no differences between the two conditions. Conclusion: These results indicate that action execution and observation involve overlapping neural networks in the sensorymotor cortical areas, proposing positive changes on neurophysiology. We are expected to provide information related to the intervention of cognitive rehabilitation.

• 한국융합학회논문지
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• 제12권2호
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• pp.67-75
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• 2021

본 연구는 초등학교 1학년 부적응 아동을 대상으로 감각과 운동 중심의 융합 활동으로 구성 된 그룹 작업치료 프로그램을 실시하여 자기조절능력, 실행 기능에 미치는 영향을 알아보고자 하였다. 연구 설계는 사전-사후 검사를 통한 사례 연구이며 대상자는 총 3명이다. 사전-사후 검사로 자기 조절 능력 척도와 실행 기능을 알아보기 위해서 운동적 합성 검사를 실시하였다. 감각-운동 중심의 그룹 작업치료 프로그램은 전정 감각, 고유 감각, 촉각이 기초 한 움직임 활동을 하였으며 아동의 활동에 대한 선호도를 조사하여 과제를 선정하였다. 그 결과 대상자 1과 대상자 2 아동은 자기조절 능력, 실행 기능의 향상이 나타났다. 본 연구의 결과를 근거로 하여 교육 현장과 임상이 연계되어 학교의 부적응을 보이는 아동들에게 그룹 중심의 감각-운동 프로그램을 제공하여 학교의 적응 능력 향상을 기대할 수 있을 것을 사료된다.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.137-144
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• 2015

In hybrid or electric vehicles, the hydraulic brake system must be controlled cooperatively with the traction motor for regenerative braking. Recently, a motor driven brake system with a PMSM (Permanent Magnet Synchronous Motor) has replaced conventional vacuum boosters to increase regenerative power. Unlike industry motor controls, additional source codes such as functional safety are essential in automotive applications to meet ISO26262 standards. Therefore, the control logic execution time increases, which also causes an extension of the motor current control period. The increased current control period makes precise motor current control challenging inhigh speed ranges where the motor is driven by high frequency. In this paper, a PWM update strategy and a time delay compensation method are suggested to improve current control and system performance. The proposed methods are experimentally verified.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1125-1131
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• 2013

Nowadays, embedded software development using the MATLAB/Simulink system is gradually emerging. Studies generating the parts of embedded S/W in a Rapid Prototype are presented. In this paper, a method to generate the entire embedded S/W of enhanced AC motor control is proposed. High performance motor control could not be achieved with the basic Simulink library and RAppID Toolbox library as it does not have PWM based Interrupt, an ASAC (Analog Sensing for AC Motors) function and other special functions of the Freescale MPC555x. Consequently, the required libraries for enhanced AC motor control are created by Legacy code tool, TLC (Target Language Compiler) and S-Function (System-Function) of MATLAB/ Simulink and utilized in the Rapid Prototype. Motor control performance and execution time are compared automatically to the generated-code S/W with the hand coded S/W. The IPMSM (Interior Permanent Magnet Synchronous Motor) and MPC5553 board that were designed as the AC motor controller for hybrid electrical vehicle are used for the test. The performances meet the requirements and satisfactory results are acquired.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.245-247
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• 1992

We utilize as a processor TMS320C25 (Texas Instrument) in making a driver for a 4 pole PM synchronous servo motor. TMS320C25 has a 32bit ALU and a 16 bit hardware multiplier, and the maximum instruction execution rate is 10MIPS at 40MHz. We adopted a space vector modulation PWM method. An interesting point of this work is that PWM wave is generated by utilizing timer interrupts. Hence, in the rest of time the processor can take care of the other routine such as Park's coordinate transformation and the computation required in the feedback loops. Thus, it mates the hardware circuit very simple. Due to the decrease in the number of components, the motor drive system becomes more fault-tolerant and cost-optimized. Also, more flexibility is gained in changing the control parameters.

• Smart Structures and Systems
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• 제7권3호
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• pp.169-184
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• 2011

We review the current understanding of modularity in biological motor control and its forms, and then relate this modularity to proposed modular control structures for biomimetic robots. We note the features that are different between the robotic and the biological 'designs' with features which have evolved by natural selection, and note those aspects of biology which may be counter-intuitive or unique to the biological controls as we currently understand them. Biological modularity can be divided into kinematic modularity comprised of strokes and cycles: primitives approximating a range of optimization criteria, and execution modularity comprised of kinetic motor primitives: muscle synergies recruited by premotor drives which are most often pulsatile, and which have the biomechanical effect of instantiating a visco-elastic force-field in the limb. The relations of these identified biological elements to kinematic and force-level motor primitives employed in robot control formulations are discussed.

• PNF and Movement
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• 제7권4호
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• pp.45-53
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• 2009

Purpose : The purpose of this article was to review the literature on mirror neuron system with reference to its functional diversity in stroke rehabilitation.. Method : This review outlines scientific findings regarding different neurophysiological properties in mirror neurons, and discusses their involvement in process of stroke rehabilitation. Result & Conclusions : Mirror neurons were first discovered in macaque monkey. These neurons, like most neurons in F5 areas in premotor cortex, fired when an individual performs an action, as well as when he/she observes a similar action done by another individual, although originally fired only during action execution. Mirror neurons form a network for motor planning and initiating of motor action. Thus, in stroke rehabilitation based on the mirror neuron-action observation, motor imagery, observation with intent to imitate and imitation-may help activate mirror neuron system for improved outcome of physical therapy. These studies provide a scientific theoretical basis and discuss for the use of mirror neuron system as a complement to clinical physical therapy in stroke rehabilitation.

• The Journal of Korean Physical Therapy
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• 제23권2호
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• pp.85-90
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• 2011

Purpose: The contribution of the supplementary motor area (SMA) to the control of voluntary movement has been revealed. We investigated the changesin the SMA for motor learning of the reaching movement in stroke patient using functional MRI. Methods: The subject was a right-handed 55 year-old woman with left hemiparesis due to an intracerebral hemorrhage. She performed reaching movement during fMRI scanning before and after reaching training in four weeks. The motor assessment scale and surface EMG were used to evaluate the paretic upper limb function and muscle activation. Results: In the fMRI result, contralateral primary sensorimotor cortex (SM1) was activated before and after training. SMA was only activated after training. In addition, muscle activation of the paretic upper limb was similar to that of the unaffected upper limb after training. Conclusion: These findings suggest SMA is related to the execution of a novel movement pattern resulting in motor learning in stroke patients.