• Asian Oncology Nursing
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• v.5 no.1
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• pp.11-21
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• 2005

The purpose of this study were to develop an web-based education program for Lung cancer patients and to test its effects on patients' self-care knowledge, compliance to medical regimen, nutrition status and pain. The program was developed by the following process: first, Lung cancer patients demand on the web-based program was investigated. and second, the program was developed with the help of various reference books and then validation of experts group. last, educations effects on the patients is evaluated and compared the differences in self-care knowledge, compliance to medical regimen, nutrition status and pain between on experimental group and a control group on before discharge 1day and 3weeks after. SPSS/Win 11.0 program was used for data analysis. It was proven with $x^2$ test and t-test, and Pearson Correlation coefficient, and Chronbach's alpha coefficient were done for the reliability of measuring instruments. 1. The summary of the Program development is as follows. The program is based on patients' questionnaire and reference material and is made for users friendly. Not only Bigger font size and bright colors but also illustrations or pictures were adopted to help enhance patients' understanding. 2. The summary of the study results is as follows. 1) Compared with control group, the web-based educated experimental group showed a statistical significant difference on self-care knowledge, Especially disease, radiation treatment, medication & analgesics, chemotherapy side effect, but there was no significant difference in the field of chemotherapy, in the fields of operation, diet & general knowledge. 2) Compared with control group, the web-based educated experimental group showed a statistical significant difference on compliance to medical regimen, especially in the field of follow up care, everyday life, diet, but there was no significant difference in the field of medication, exercise. 3) Compared with control group, web-based educated experimental group showed no significant difference in nutrition status, but partially significant difference in body weight. 4) Compared with control group, the web-based educated experimental group showed no significant difference in pain level. 5) The significantly positive correalation self-care knowledge with the compliance to medical regimen. 6) Users satisfaction with the web-based education program of the contents quality, the level of recommendation to others, content layout, medical information quality, but interesting got a low mark.

• Journal of Korean Academy of Nursing
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• v.4 no.1
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• pp.151-161
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• 1974

Home visiting as a Public Health Horsing function is believed to be of therapeutic value to, the patient. However, home visiting is time consuming and expensive. Is the gain in knowledge and treatment for patients with Tuberculosis in Korea enough to make the necessary outlay in finances and personnel worthwhile\ulcorner While this study does not attempt to completely answer this question it does, under the following objectives, attempt to answer part of the question. The objectives of the study were to l) ascertain if there is a difference between patients, who receive home visits from the public Health Nurse and those who do not, in the following areas: a) their compliance with medical regimen, b) their ability to answer general questions about Tuberculosis, and c) their compliance with medical advice concerning prevention (B.C.G. immunization) and early diagnosis (contact X-rays), and 2) to determine if there is any correlation between the patient's answers to questions about Tuberculosis and his action both in the areas of treatment and prevention. The patients participating in the study were all newly diagnosed patients at Kwangju Christian Hospital. A control group and an experimental group were selected. The patients in the control group were seen according to the regular schedule at the Kwangju Christian Hospital except that they received no home visits from the Public Health Nurses. The patients in the experimental group were visited on an average of three times during the first two months of their treatment by the investigator, a Public Health Nurse. At the end of two months the patients in the two groups were compared as to compliance both in the treatment and preventive areas. They were also compared according to their answers to a questionnaire regarding both the prevention and treatment of Tuberculosis. The following results were obtained : 1. Patients in the experimental group (68.2%) showed a significantly higher compliance rate for medical treatment than patients in the control group (43.2%). 2. Patients in the experimental group (87.5%) showed a higher compliance rate for B.C.G. immunization than those in the control group (40%). 3. Women patients in the experimental group showed a higher mean score (7.2$\pm$2.6) on the questionnaire than did women in the control group (6.2$\pm$3.4). The results of this study seem to indicate that while home visiting is beneficial to the patient with Tuberculosis as far as treatment is concerned, something more concrete needs to be done if home visiting is to help the patient learn more about Tuberculosis and its prevention. Further study is indicated in the following areas: 1) A similar type of study over a longer period of time involving more subjects and using Korean Public Health Nurses to make the home visits. 2) Study to develop an adequate approach to education considering the problems unique to patients with Tuberculosis living in Korea.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1271-1279
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• 2004

A new bio-mimetic actuator is proposed. The actuator realizes bidirectional actuation since it is with a stretched film antagonistically configured with compliant electrodes. Also, it is distinguished from existing actuators with respect to the controllability of its compliance. Bidirectional actuation and compliance controllability are important characteristics for the artificial muscle actuator and the proposed one accomplishes these requirements without any mechanical substitute or complicated algorithms. In this paper its basic concepts and working principles are introduced with static and dynamic analysis. Control strategies for displacement as well as stiffness are introduced and experimental results are given to confirm the effectiveness of the proposed methods. In addition, an example of robotic actuating devices is given to confirm the usefulness of the proposed actuator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.408-410
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• 1992

An adaptive hybrid position/force controller for constrained manipulator with uncertain dynamic model parameters and environment stiffness is presented. In this paper, the compliance frame model is constructed by independent positions and forces to be controlled. The adaptive controller based on this compliance frame dynamic model is designed. Lyapunov theory is used for controller design and Stability analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• The Journal of Korean Physical Therapy
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• v.15 no.4
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• pp.13-23
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• 2003

The purpose of this study was to evaluate the change of lordosis according to plantar surface compliance in patients with chronic low back pain. Thirty patients with chronic low back pain aged between 20 and 40 were assigned to 3 groups: control group, experimental groups (FHRS group, FSRH group). The lordosis was examined before and after adaptation with corresponding foam types. The results were as follows : 1. As the result of comparing lordosis before and after test of the control group which any change did not exist in plantar surface compliance, there was not a significant difference(p>0.05). 2. As the result of comparing lordosis before and after test of the FHRS group which forefoot part of plantar surface is hard and rear foot part is soft, there was the significant increase(p<0.05). 3. As the result of comparing lordosis before and after test of the FSRH group which forefoot part of plantar surface is soft and rear foot part is hard, there was the significant decrease(p<0.05). 4. As the result of comparing lordosis of the FHRS group and FSRH group, there was not a significant difference before test(p>0.05). But, there was a significant difference after test(p<0.05).

• Advances in robotics research
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• v.2 no.1
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• pp.69-97
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• 2018

Innovation is considered as key to ensure continuous advancement and firm progress in any field. Robotics, with no exception, has gained triumph and approval based on its strength to address divers range of applications as well as its capacity to adapt new ways and means to enhance its applicability. The core of novelty in robotics technology is the perpetual curiosity of human beings to imitate natural systems. This desire urges to continuously explore and find new feet. In the past, contemporary machines, in different shapes, sizes and capabilities, were developed that can perform variety of tasks. The major advantage of these developments was the ability to exhibit superior control, strength and repeatability than the corresponding systems they were replicating. However, these systems were rigid and composed of hard an underlying structure, which is a constraint in bringing into being the compliance that exists in natural organisms. Inspiration of achieving such compliance and to take the full advantage of the design scheme of biological systems compelled researchers and scientists to develop systems avoiding conventional rigid structures. This ambition, to produce biological duos, needs soft and more flexible materials and structures to realize innovative robotic systems. This new footpath to craft biological mockups facilitates further to exploit new materials, novel design methodologies and new control techniques. This paper presents an appraisal on such innovative comprehensions, conferring to their design specific importance. This demonstration is potentially useful to prompt the novelty of soft robotics.