• The Journal of Korean Physical Therapy
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• 제15권3호
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• pp.202-222
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• 2003

Chronic upper extremity hemiparesis is a leading cause of functional disability after stroke. The purpose of this study were to identify effects of a 6weeks repetitive bilateral arm training on upper motor function and the reorganization of motor network. Four chronic stroke patients participated in this study. They performed for 6 consecutive weeks, 3 days a week, 30 minutes a day. In the single group study, four 5-minute periods per session of bilateral arm training were performed with the use of a custom-designed arm training machine. The results of this study was as follows. 1. Following the 6weeks period of RBAT, patient exhibited a improvement in FMA and BBT. 2. Following the 6weeks period of RBAT, it showed improvement in reaching time, symbol digit substitution and finger tapping speed of KCNT. 3. fMRI activation after RBAT showed a focal map in lesional cortical area and perilesional motor areas. These fMRI data suggest that hemodynamics response to RBAT reflect sensorimotor reorganization in contralateral hemisphere. In conclusion, these date suggest that improved upper extremity function induced by repetitive bilateral arm training after stroke is associated with reorganization of motor network as a neural basis for the improvement of paratic upper extremity function.

• PNF and Movement
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• 제11권2호
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• pp.41-48
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• 2013

Purpose : The aim of this study was to compare the effect of task-oriented training using the PNF(proprioceptive neuromuscular facilitation) and task-oriented training with chronic stroke patients. Methods : Sixteen chronic stroke patients participated. Participants were randomly assigned to the control and experimental group( 8 experimental, 8 control). All of participants were in-patients at local hospital and had been received training appropriate to the purpose of each group program. Experimental period was carried out 30 minutes/day, five days/week, during four weeks. The experimental group trained the task-oriented training using the PNF and control group trained the task-oriented training. Fugl-meyer assessment scale and Modified Barthel Index was measured to compare the upper arm function and activities of daily living. We were measured before and after the training. Results : The results of the study were as follow: Fugl-meyer assessment scale was significantly increased both groups(p<.05), and significant between groups(p<.05). Modified Barthel index was significantly increased both groups(p<.05) and between groups(p<.05). Conclusion : PNF can be effective in improving upper arm function and ability to perform daily life of chronic stroke patients.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.345-348
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• 1997

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effecter of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• 한국정밀공학회지
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• 제18권7호
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• pp.46-52
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• 2001

This study describes the precision control of the torque standard machine using a self-tuning fuzzy controller. The torque standard machine should generate the accurate torque for calibrating a torque sensor. In order to reduce the relative expanded uncertainty of the torque standard machine, when a weight is hanged to the end of the torque arm for generating the torque, the sloped torque arm should be accurately controlled to the horizontal level. If the slope of the torque arm is larger from the inaccurate control, the uncertainty of the torque standard machine due to control will be larger. This applies the inaccurate torque to a torque sensor to calibrate, and the measuring error of the torque sensor generate from it. Therefore the torque arm of the torque standard machine is accurately controlled. In this paper, the self-tuning fuzzy controller was designed using a fuzzy theory, and the torque arm of the torque standard machine was accurately controlled. The control gain of the fuzzy controller, that is the membership function size of the error, the membership function size of the error change and the membership function size of the controller were determined from the self-tuning. The control results of the torque standard machine were the overshoot within 0.0076mm, the rise time within 16.70sec and the steady state error within 0.0076mm.

• 한국의류산업학회지
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• 제21권4호
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• pp.468-479
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• 2019

This study used a three-dimensional-analysis method to quantitatively analyze the change of clothing appearance according to a gusset added to bodice and sleeve patterns for men in their twenties. Comparing six different patterns, the study found that patterns P1 and P2 with little gusset did not have a large difference in the strain map, and pattern P6 had no gusset in the motion of raising the arm $28^{\circ}$ to the side (M1). When the arm was raised $45^{\circ}$ to the side (M2), the P1 pattern had the smallest deformation, and only the P5 pattern had a large deformation from the neck to the armhole area. In contrast, except for in the P3 pattern, large wrinkles formed in the front and back when the arm was raised above $158^{\circ}$ (M3) from the side of the waist to the armpit. In addition, P3 had the smallest change in the hem of the bodice and sleeves. However, the appearance of P2, P3, and P5 was excellent when the arm was moved forward (M4), and the P2 and P5 patterns were the smallest at the bodice and sleeve hem. The P6 pattern showed the least fitness in terms of function. In the case of raising the arm, there was a strong correlation between gusset size and motion function, but when the motion of the arm changed, the motion function did not improved just by changing the ease size.

• 전자공학회논문지SC
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• 제42권2호
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• pp.19-26
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• 2005

본 논문은 RFID 태그 정보를 무선으로 수신하여 처리한 후 이들 정보를 RS-232, USB, Bluetooth 또는 Ethernet 인터페이스를 통하여 PC서버에 전달하는 기능을 수행하는 다기능 UHF 대역 RFID 리더 플랫폼의 설계 및 구현을 위한 것이다. 개발하고자 하는 Embedded RFID 리더는 크게 RFID 모듈, ARM 프로세서, RS-B2 인터페이스, USB 인터페이스, Enternet MAC 인터페이스, Bluetooth 인터페이스 등으로 구성된다. 본고를 통하여 RFID의 개념 및 리더의 동작원리를 소개하고 임베디드 프로세스를 사용한 리더플랫폼 및 관련 알고리즘을 제안하고 구현한다. 설계된 플랫폼에 대하여 고정형과 이동형으로 나누어 그 기능을 분석하고 평가한다.

• 한국정밀공학회지
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• 제29권10호
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• pp.1119-1127
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• 2012

In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.130.1-130
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• 2001

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effector of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded ...

• ETRI Journal
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• 제40권5호
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• pp.653-663
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• 2018

Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding-mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding-surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.12-17
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• 1991

In this paper, a variable structure system control method is proposed to the trajectory control of robot arm. A proposed method uses nonlinear switching function and saturation function. Furthermore, learning control method uses to decrease of the following error. The computer simulation results show that the chattering and the following error decrease and is improved the control the performance by a proposed method.