• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• 한국수자원학회논문집
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• 제37권3호
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• pp.207-217
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• 2004

국내의 경우 전국적으로 관거의 신설보다는 기존에 매설되어있는 관거의 노후에 따른 개량에 대한 관심이 증대되고 있으나, 그에 따른 연구는 미비한 실정이다. 국내ㆍ외에서는 유전자 알고리즘을 이용하여 개량시기를 결정하는 연구 예가 있으나, 이러한 연구에서 개량시기를 결정하는 요소들이 매우 단순하여 관거의 노후에 따른 복합적인 의사결정이 이루어지지 않고 있다. 본 연구에서는 관거별 통수능력 및 불명수 발생량을 산정하여 배수분구내 토구별 최적 개량 우선순위를 결정하는 한편, 유전자 알고리즘을 이용하여 최적개량비용을 산정하는 최적개량 의사결정 시스템을 개발하였다.

• 대한의용생체공학회:의공학회지
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• 제25권6호
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• pp.511-517
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• 2004

기존의 재활운동 장치들은 상지 또는 하지의 특정한 관절에 대해서만 재활운동이 가능하게 개발되었다. 따라서 여러 관절을 재활시키고자 할 경우, 그에 맞는 다양한 종류의 재활기구 들이 필요하다. 이러한 단점을 보완하기 위하여 본 연구에서는 각 관절에서 이루어지는 다양한 재활운동을 통합 구현하는 CMRS(CIM and Robotics Lab. Multi - joint Rehabilitation System)을 제안하였다. 이 시스템을 위해 인체의 상지 및 하지에 대한 기구학적 특성을 이용하여 각 관절의 회전 특성 및 좌표관계를 조사하였으며, 이와 같은 연구를 바탕으로 재활운동 기구 제작 시 알맞은 메커니즘을 제시하고. 다양한 재활 부위와 이를 재활 운동시키는 헤드부의 위치관계를 연구하였다. 시뮬레이션을 통하여 재활운동 시스템의 가능성을 판별하였고. 안정되고 편리한 위치 조정을 위한 베이스프레임을 개발하였다. 이를 고려하여 최종적으로 8개의 자유도를 가진 CMRS을 개발하였으며 다 관절을 하나의 시스템으로 재활 가능할 것이라 사료 된다.

• 한국정밀공학회지
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• 제28권5호
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• pp.599-605
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• 2011

A 3-D rehabilitation robot system is developed. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. In this paper, a hybrid position/force controller is used for controlling positions and forces simultaneously The controller is tuned according to the robot posture. The active motion modes for rehabilitation program consist of active-resisted motion mode and active-free motion mode. The results of the experiments show that the proposed motion modes provide the intended forces effectively.

• 한국정밀공학회지
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• 제28권9호
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• pp.1110-1118
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• 2011

The recent power add-on drive wheelchairs (PADWs) provide greater physical activity and easier transportability and may be an excellent alternative for the typical manual and powered wheelchairs. The driving system consists of a motor and a motor driver is the most important component of the PADW In this paper, design, implementation, and testing of a driving system for a PADW are presented. To design the output power and torque for the driving system, the equation of motion has been investigated. The motor and driver were fabricated with precise machining and assembled to implement our prototype driving system. The dynamometer test has been carried out using the prototype in order to examine the torque of the system. The experimental results demonstrates that the designed driving system can provide enough output power and efficiency for utilization in a PADW.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1192-1197
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• 2007

This study proposes an automated pegboard utilizing the RFID system with multiple reader antennas for the rehabilitation services and the occupational therapy. The system automates the scoring by detecting the plugging correctness as well as the plugging status. It also aims to increase the patient's interest and the functional intelligence. The system was prototyped and the RFID read rate (over 99.998%) was confirmed. The system was also tested for the automatic capability of the scoring the session. The proposed system will be served as the typical example for the ubiquitous rehabilitation devices.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2001년도 지반환경 및 준설매립에관한 학술세미나
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• pp.85-95
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• 2001

There has been a steady increase in closed waste landfill. Sanitary and contamination prevention systems such as liner system, leachate treatment, gas treatment system were not installed in unregulated waste landfill. This study was carried out to introduce the rehabilitation method and case of unregulated closed landfill.

• 대한한의학회지
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• 제39권3호
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• pp.41-50
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• 2018

Objectives: The study is aimed to utilize Taesikbub and Lung-doyinbub described in "Dong-Ui-Bo-Gam" as a Korean Traditional Pulmonary Rehabilitation Exercise. Methods: We preliminary researched pulmonary rehabilitation exercise using domestic and international databases and old literatures of Korean Medicine. Then made a draft of Korean Traditional Pulmonary Rehabilitation Exercise based on "Dong-Ui-Bo-Gam". After organizing expert group for verifying the draft of the exercise, we developed the final Korean Traditional Pulmonary Rehabilitation Exercise. Results: The Korean Traditional Pulmonary Rehabilitation Exercise is composed of 5 actions including breathing method, flexibility exercise, percussion and hitting teeth. This exercise is recommended twice a day for at least 5 days per week under the supervision of specialist. It is expected to improve physical activity, dyspnea, health-related quality of life (HRQoL) as well as psychiatric symptoms by breathing deep and slow and exercising the thorax and upper limb muscles. Conclusion: Taesikbub, Lung-doyinbub in "Dong-Ui-Bo-Gam" may be suggested as a better pulmonary rehabilitation exercise for patients of chronic lung disease.

• Annals of Rehabilitation Medicine
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• 제42권6호
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• pp.872-883
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• 2018

Objective To replace camera-based three-dimensional motion analyzers which are widely used to analyze body movements and gait but are also costly and require a large dedicated space, this study evaluates the validity and reliability of inertial measurement unit (IMU)-based systems by analyzing their spatio-temporal and kinematic measurement parameters. Methods The investigation was conducted in three separate hospitals with three healthy participants. IMUs were attached to the abdomen as well as the thigh, shank, and foot of both legs of each participant. Each participant then completed a 10-m gait course 10 times. During each gait cycle, the hips, knees, and ankle joints were observed from the sagittal, frontal, and transverse planes. The experiments were conducted with both a camera-based system and an IMU-based system. The measured gait analysis data were evaluated for validity and reliability using root mean square error (RMSE) and intraclass correlation coefficient (ICC) analyses. Results The differences between the RMSE values of the two systems determined through kinematic parameters ranged from a minimum of 1.83 to a maximum of 3.98 with a tolerance close to 1%. The results of this study also confirmed the reliability of the IMU-based system, and all of the variables showed a statistically high ICC. Conclusion These results confirmed that IMU-based systems can reliably replace camera-based systems for clinical body motion and gait analyses.

• 대한한의진단학회지
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• 제17권1호
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• pp.45-50
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• 2013

Objectives This study investigates the construction of a combined system of Western and Oriental medicine at the Korean National Rehabilitation Center. The findings of this study can be used as guidelines for the establishment and management of an Oriental Medicine Department at the Center. Methods The study involved the collection and organization of information regarding combination of Western and Oriental medicine, analysis of the current system, meetings with experts, modifications made on the basis of the meeting results, and assessment of operations to be carried out by the Oriental Medicine Department at the Center. Results This study provided suggestions for the establishment and management of the Oriental Medicine Department at the Center. In addition, it made recommendations for the role that the Oriental Medicine Department can play in the formation of a combined system of Western and Oriental medicine. Thus, the study can facilitate the construction of a combined system of Western and Oriental medicine through the Oriental Medicine Department at the Center in December 2010. Conclusion It is possible to realize patient-centric treatment procedure under the stable and efficient combination of Western and Oriental medicine through the establishment of an Oriental Medicine Department at the Korean National Rehabilitation Center. Such a cooperative system should involve a complete understanding of Western and Oriental medicine and should not be restricted to limited information sharing.