• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.413-420
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• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.473-480
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• 2013

This paper describes the design of a rectangular-type four-finger rehabilitation robot for flexibility rehabilitation of stroke patients' fingers and other patient's paralyzed fingers. The four-finger rehabilitation robot is composed of a body and each finger rehabilitation robot instrument. The four-finger rehabilitation robot could exercise four fingers (forefinger, middle finger ring finger and little finger) of patient for their rehabilitation. The four-finger rehabilitation robot instruments move according to the trace which spread out the patient's fingers and then turn them inward for the fingers' flexibility, while at the same time performing the force control with the reference forces for fingers' safety, simultaneously. A control characteristic test of the developed rectangular-type four-finger rehabilitation robot was carried out, and the results confirmed that the robot could be used for the flexibility rehabilitation exercise for the fingers of normal person and patients.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.5
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• pp.516-523
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• 2012

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. The moving direction of thumb of five fingers is different that of four fingers (force finger, middle finger, ring finger, little finger). The thumb rehabilitation robot for rehabilitation exercise must be included a force control system, because robot can injure thumb by applying too much force. In this paper, the rectangular-type thumb rehabilitation robot was developed for stroke patient's thumb rehabilitation exercise of the flexibility rehabilitation exercise. The characteristic test of the developed rectangular-type thumb rehabilitation robot was carried out with normal men in their twenties. As a result, it is thought that the robot can be used for the flexibility rehabilitation exercise of stroke patient's thumb.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.31-39
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• 2016

This paper describes the design of an ankle rehabilitation robot for the force measurement of a severe stroke patient staying in a bed ward. The developed ankle rehabilitation robot was attached to a three-axis force/torque sensor that could detect force Fx, Fz, and torque Tz and measure the ankle rotation force (Fx) exerted on the ankle and the signal force Fz and torque Tz to be used as a safety device. The robot was designed and manufactured for bedridden stroke patients, and the robot program was manufactured to perform the flexibility rehabilitation exercise for ankle bending and to measure the ankle force to judge the degree of rehabilitation. According to the result of the characteristics test of the developed rehabilitation robot, it was safely operated while the ankle-bending flexibility rehabilitation exercise and the emergency situation were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Journal of Sensor Science and Technology
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• v.21 no.2
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• pp.127-134
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• 2012

Stroke patients must do the rehabilitation exercise to recover their fingers' function using a rehabilitation robot. But the rehabilitation robots mostly have not the force sensors to control the applied force to each finger. Thus, in this paper, the development of a force sensor for thumb rehabilitation robot and four two-axis force sensors for four-finger rehabilitation robot were developed. The force sensor and four two-axis force sensors could be used to measure the applied force to each finger, and the forces could be used to control the applied forces to each sensor in rehabilitation exercise using in the rehabilitation robot. The developed sensors have non-linearlity error of less than 0.05 %, repeatability error of less than 0.03 %, and the interference error of two-axis force sensor is less than 0.2 %.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.709-716
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• 2013

Rehabilitation of finger patients requires that the patients exercise their hands and fingers for proper functioning to return. A thumb rehabilitation robot, equipped with a two-axis force sensor, can prevent injury to the thumb by monitoring the applied pulling force. In this paper, we describe a link-type thumb rehabilitation robot designed for patients' thumb rehabilitation exercise. Tests of the manufactured link-type thumb rehabilitation robot were performed on normal male patients. Our results show that the robot can be used for flexibility and muscle-strength rehabilitation exercises for a patient's thumb.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.15-26
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• 2023

In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.

• Journal of Korean Biological Nursing Science
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• v.23 no.1
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• pp.72-82
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• 2021

Purpose: This study used a mixed methods research design in an attempt to verify the effects of robot-assisted rehabilitation on the gait ability of stroke patients with hemiplegia, and thereby further understand the benefits and challenges of stroke patients' experiences relying on robot-assisted rehabilitation. Methods: An exploratory sequential mixed methods study design was used in order to combine both quantitative and qualitative data. For the quantitative data collection, a total of 30 stroke patients with hemiplegia were recruited from one rehabilitation hospital. Qualitative data were collected through individual interviews using semi-structured questionnaires for a group of 15 patients who were currently undergoing robot-assisted rehabilitation. The data were analyzed through qualitative content analysis. Results: As a result of the quantitative analysis, there were significant differences between the two groups in terms of daily living activity patterns, total number of steps, and average walking speed. As a result of the qualitative analysis, the four main themes derived consisted of, 'curiosity about the usage of robot-assisted rehabilitation,' 'pleasure experienced while using the robots,' 'insufficient information about robots,' and 'a lack of education about robot-assisted rehabilitation.' Conclusions: Robot-assisted rehabilitation had a significant effect on the walking ability of stroke patients with hemiplegia. Additionally, stroke patients with hemiplegia experienced difficulty during the course of their robot-assisted rehabilitation, due to a lack of sufficient information on correct usage techniques. These quantitative and qualitative findings could provide the basic foundation for the development of an educational program on robot-assisted rehabilitation.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1949-1960
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• 2004

This paper presents a robot system developed for medical purpose. A 6-degree-of-freedom robot was introduced for physical exercise and rehabilitation. This system was proposed for stroke patients or patients who cannot use one of their arms or legs. The robot system exercises the hemiplegic part based on the motion of normal part of a patient. Kinematic studies on the human body and robot were applied to develop the robotic rehabilitation exercise system. A clamp which acts as an end effector of the robot to hold a patient was designed and applied to the robot to guarantee the safety of patients. The proposed robotic rehabilitation system was verified by simulations and experiments on arm (elbow and shoulder) motion. Patients are expected to be able to exercise various motions by themselves with the proposed robotic rehabilitation system.

• Journal of Sensor Science and Technology
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• v.25 no.1
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• pp.27-34
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• 2016

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.