• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1600-1602
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• 2008

Various applications of exoskeleton system are reported in the area of military, healthcare, and industries. More the user gets help from exoskeleton system, more power is consumed. To resolve this design conflict, we suggest an energy efficient exoskeleton system which compensates muscle fatigue in isotonic and isometric contraction conditions. Fatigue compensated exoskeleton significantly reduced muscle fatigue while consumed less operation power. In addition, the level of fatigue compensation can be managed by motor control using various input profile. It can make user customized exoskeleton system.

• 대한기계학회논문집A
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• 제41권8호
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• pp.771-782
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• 2017

본 논문은 노약자들의 발목근력보조를 위한 착용형 로봇에 대해서 서술하였다. 기존 착용형 로봇들은 보행 시 필요한 근력을 보조하기 위해 대부분 모터와 감속기를 사용하였다. 하지만 모터와 감속기의 조합은 무게가 무거울 뿐만 아니라 감속기 치차의 마찰때문에 실제 사람의 근육과 달리 강성과 토크를 동시에 제어하기 어려운 한계가 있다. 따라서 본 연구에서는 모터/감속기 조합보다 가볍고 안전하며 근력을 보조하는 힘을 충분히 발휘할 수 있는 Mckibben 공압 근육을 사용하였다. 발목의 피칭 모션에 이용되는 종아리 가자미근 및 앞정강근의 힘을 한 쌍의 공압 근육을 사용한 상극구동으로 보조하였으며, 상극구동제어를 위해 상극구동 모델 파라미터들을 실험적으로 도출하였다. 사용자의 보행의지를 판단하고자 발바닥에 부착된 압력변위센서로 압력과 압력중심위치를 측정하여 발바닥의 하중과 발목토크를 계산하였고, 이를 기반으로 공압 근육 관절의 강성과 토크를 동시에 제어하였다. 최종적으로, 트레드밀에서 근전도 신호를 측정하여 발목근력보조로봇의 성능을 실험적으로 입증하였다.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.538-546
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• 2015

This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn't restrain the wearer's ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.340-342
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• 2007

This paper presents the grip force control of myoelectric hand prosthesis according to myoelectric signal generated in the human muscle. The control system consist of a controller for driving DC motor, torque sensor for measuring out torque of motor, slip sensor for detecting slip of torque. The experimental results proved the reliability of proposed control system.

• The Journal of Korean Physical Therapy
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• 제13권3호
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• pp.777-789
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• 2001

The purpose of this study was to investigate the possibility of using surface electromyographic signals as a measure of muscle fatigue during the wheelchair propulsion. Subjects performed wheelchair exercise tests on a motor-driven treadmill with a constant-velocity of 1.25 m/sec. During each test, the raw EMC signals were acquired from the surface electrodes attached on the belly of five muscle groups: biceps brachii, pectoralis major. deltoid, triceps brachii, and trapezius. The median power frequency(MPF), and the root mean square(RMS) amplitude were calculated for each cyclic contraction in order to quantify muscle fatigue. During the wheelchair propulsion, the MPF decreased and the RMS increased in the trapezius and deltoid. However, the decreasing MPF and the increasing RMS also fluctuated severly during dynamic muscle contractions. Therefore, the MPF and RMS values should be estimated with well-designed methods and used with caution to quantify muscle fatigue during wheelchair propulsion.

• The Journal of Korean Physical Therapy
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• 제23권6호
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• pp.1-7
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• 2011

Purpose: The purpose of this study was to investigate the effect of movement training based on motor control theory on pain and average power of muscles in patients with shoulder impingement syndrome and to develop more effective training methods. Methods: We studied 35 patients with shoulder impingement syndrome. Patients were randomly assigned to an experimental group or a control group according to the intervention. The therapeutic modalities such as superficial heat, deep heat, and electronic stimulus, and motor control training with strengthening exercises were applied to the experimental group and therapeutic modalities only were applied to the control group. All interventions were done 3 times a week for 4 weeks. Before the intervention and again after the 4 weeks, we measured pain utilizing a visual analog scale. We measured average power using isokinetic equipment. Results: After application of the intervention, pain significantly decreased in both the experimental group and the control group. There was a significant difference between the extent of the decrease between experimental and control groups. After the intervention, the average power between the two groups were significant at an angle of $60^{\circ}$/sec and $180^{\circ}$/sec for external rotator and internal rotator muscles. They also showed significant improvement in all variables post-intervention compared to pre-intervention. Conclusion: This study indicates that there is an effect in giving appropriate motor control training to patients with shoulder impingement syndrome. It is assumed that there will be a need for more surveys on various variables for motor control training from now on.

• 한국전문물리치료학회지
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• 제15권4호
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• pp.43-49
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• 2008

The objective of this study was to compare the differences on the activity and power of the wrist flexors and extensors in subjects before the use of a wrist extension splint, after nighttime wearing of the splint, and after daytime wearing of the splint. Ten healthy male and ten healthy female students (mean: $22.4{\pm}1.2$ years old) volunteered to wear custom-made wrist splints either during the night or during the day, The hand force of the wrist flexor and extensor, and grip force were measured by PowerTrack II and Dynatron, respectively. At the same time, the activities of the wrist flexor and extensor were recorded by' surface electromyography. The maximal hand force and motor unit recruitment of the flexor carpi ulnatis (FCU) increased significantly (p<.05) when tile subjects wore the wrist splints during the daytime, but the maximal hand power of the FCU decreased with nighttime use of the splints. The maximal hand power and motor unit recruitment of the extensor carpi radialis (ECR) and the ECR/FCU ratio decreased both during nighttime and daytime use. The decrement of the ECR/FCU ratio was significant (p<.05). Wearing a wrist extension splint during nighttime led to the maintenance of a lengthened position of the wrist flexor, resulting in the wrist flexor becoming weak. Wearing a wrist extension splint during the day induced the wrist flexors to be greater. In healthy people, the imbalance between the wrist flexors and extensors may be caused by the use of a wrist extension splint. This study indicates that therapists have to consider whether a splint will be effective, as well as the wearing time, when prescribing splints to people with problems of the musculoskeletal system.

• The Journal of Korean Physical Therapy
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• 제11권1호
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• pp.149-156
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• 1999

Resistive therapeutic exercise prescription goal is to improve functional performance and capabilities through the development of increased muscular strengh endurance or power. Resistance can be applied to either dynamic or static muscle contractions. Resistive therapeutic exorcise can be carried nut concentrically, eccentrically, isometrically, isokinetically. Neurodevelopmental treatment has not resistive therapeutic exercise concept. But proprioceptive neuromuscular facilitate techniques have resistive therapeutic exercise concept with pattens and techniques. It is aid muscle contraction, motor control and increase strength. Manual muscle testing will help the therapist establish a qualitative and quantitative baseline level of strength. Manual resistance maybe applied a against controlled lengthening contraction re static contraction of a muscle. A repetition maximum is not easy to calculate and is not the most accurate method available today to measure strength before of after a resistive therapeutic exercise program. Oddvar Holten Diagram is essy to calculate and is the most accurate method available today to measure strength before of after a resistive therapeutic exercise program. Plyometric training emphasize the development of muscular power and coordination. Quick bursts of force in functional movement patterns are often necessary of a patient is to return to high-demand occupational, recreational or sports related activities.

• 대한물리치료과학회지
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• 제27권1호
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• pp.56-65
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• 2020

Purpose: Individuals affected by stroke present with changes in motor function, balance, and cognition. The purpose of this study was to the correlation between motor function, balance, and cognition in patients with stroke. Design: cross-sectional study design. Methods: 67 stroke patients in the experiment were included. For evaluation of motor function which is Manual Muscle Test, Range of Motion, Modified Ashworth Scale for spasticity, grasping power, and balance was measured using the Berg Balance Scale and Functional reach test. For evaluating Cognition which is Korean-Mini Mental State Examination. Results: The results of this study's motor function, balance, and cognition showed a significant positive correlation (p<0.05). Conclusion: The results indicated that motor function, balance, and cognition were significantly correlated with each other. Therefore, it is suggested that to improve the motor function and balance of patients with stoke, it needs to evaluate the cognition and the motor function, balance, and cognitive training should be combined.

• 대한물리치료과학회지
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• 제6권3호
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• pp.9-24
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• 1999

Guillain-Barre syndrome(GBS) is one of the common motor unit diseases and defined as acute postinfectious polyneuropathy, It is not known most effective medical intervention for GBS, but generally benefits from an intensive physical therapy program. In this report, hydrotherapy was applied for a patient with GBS to improve muscle power and functional abilities. Two weeks later, the patient's functional abilities, muscle power, and physical endurance were improved without complications. Since the hydrotherapy does not load maximally to the patient with GBS, the patient can exercise himself actively for the maximal tolerance. It is the reason of fast recovery. In summary, the hydrotherapy is important to the patient with GBS and it must apply to these patients more frequently.