• 제목/요약/키워드: crutch

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가슴 착용형 보행 재활로봇의 개발 (Development of a Chest-wearable Walking Rehabilitation Robot)

  • 김현;권정관;송상영;강석일;김정엽
    • 제어로봇시스템학회논문지
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    • 제21권5호
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    • pp.393-400
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    • 2015
  • This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

복합부위통증증후군 환자에게 시행한 매몰식 펌프를 이용한 지주막하강 내 약물투입 -증례보고- (Implantable Intrathecal Drug Delivery Pump in Complex Regional Pain Syndrome Patient -A case report-)

  • 서경수;한경림;김세영;박경언;김찬
    • The Korean Journal of Pain
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    • 제22권1호
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    • pp.74-77
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    • 2009
  • Implantable intrathecal pump is one of the therapeutic options for intractable pain. A 24-year-old male with complex regional pain syndrome was suffering from right lower extremity pain. He had all modalities of treatment including spinal cord stimulator. However, his pain had been worse in the past 6 months. His visual analogue pain scale (VAS) was 8-10 and he could not sit or walk. Only opioid was thought to be effective. Then, intrathecal pump was considered. We estimated the minimal effective dose of spinal morphine before implantation. 0.3 mg of morphine was injected intrathecally as a starting dose. Dosage had been increased up to 0.8 mg in 10 days. His VAS score decreased from 8 to 5. He could sleep without pain and walk with crutch. Therefore, intrathecal pump was inserted. He could tolerate to pain. This case suggests that intrathecal morphine delivery can provide effective treatment for intractable non-malignant pain.

지체 장애인 여성을 위한 디자인 선호도 조사 및 기능성 의복 디자인 개발 연구 (A Research on the Design Preferences among and the Development of Functional Clothing Designs for Disabled Women)

  • 정삼호;이현정
    • 복식
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    • 제56권6호
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    • pp.58-71
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    • 2006
  • This research is aimed to develop the functional clothing designs for disabled women in the manner of investigating design preferences among them by means of questionnaire and interview with 150 disabled women as respondents and interviewees. The findings of this research are summarized as follows: 1. Regarding satisfaction with ready-made clothes, the respondents answered 'very satisfied' (1.6%), 'usually satisfied' (14.1%), 'moderate' (20.3%) and 'unsatisfied' (53.1%), suggesting that they had been generally unsatisfied with ready-made clothes. 2. There were more disabled women preferring to ready-made clothes with one-grade bigger (loose.) size than the actual one (53.1%) instead of completely fitted size (43.8%) when they purchased such clothes. This result indicates that they prefer to ready-made clothes with bigger size than the actual one because most of such clothes are made up of non-elastic materials which may be unfavorable for wearer's activities. 3. It was found that primarily worn upper garment among them was T-shirt (59.4%). The reason may be that T-shirt is favorable for using prosthesis and orthotics such as wheelchair, walking stick and crutches thanks to its remarkably high activity as well as simple to maintain, compared with other kinds of upper garments. 4. Regarding preferences to functional clothing designs, the primarily worn lower garment among them was trousers (85.9%); the reason was easiness to move. The main reasons of avoiding to wear a skirt included 'difficult to move' (40.6%) and 'exposed disabled region' (30.3%). Accordingly, functional clothing for disabled women should be developed in consideration for their individual characteristics of disability associated with the disabled region such as wheelchair user, crutch user or brace user, In addition, the designs should be made so that they are not different from those for non-disabled people.

인공고관절 치환술 환자의 치료지시 이행에 관한 연구 (A Study on Hip Arthroplasty Patient Compliance of Medical Regimen)

  • 류경애;김영혜;이화자;김명희;강인순
    • 재활간호학회지
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    • 제6권2호
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    • pp.239-247
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    • 2003
  • Purpose: The purpose of this study is to examine how well patients who had hip arthroplasty comply with medical regimens given to them after the operation. Method: The subjects of the study were patients who had arthroplasty at P Hospital between April 1, 2001 and August 30, 2002. 20 patients of the subjects experienced complications after the operation and the other 20 did not. Data from a survey using the qustionnaire were statistically analyzed in terms of real number, percentage point, mean and standard deviation by using $X^2$-test, t-test and ANOVA. Result: 1) the surveyed patients were significantly different in the compliance of medical regimen among them according to their education background as one of the subjects general characteristics. 2) It was found that the group of complication was higher in the compliance of medical regimen than that of non-complication. The two groups showed statistically significant difference with each other in the degree of compliance with therapeutic instructions than the experimental group in terms of the maintenance of abduction after the operation, training instructions on step-by-step basis, urination cotrol on bed, accurate use of crutch, compliance with medication, balance among medical treatment, training, leisure, rest and nutrition, instructions by physicians, nurses and physical therapists, use of low armchairs and toilet bowels and no bending of the body forward, and use of a non-operated leg in case of go upstairs or downstairs. Conclusion: It seems necessary to develop systematic and sessional education programs for improving the compliance of medical regimen, ultimately reducing complications following hip arthroplasty.

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A Study on Traffic Vulnerable Detection Using Object Detection-Based Ensemble and YOLOv5

  • Hyun-Do Lee;Sun-Gu Kim;Seung-Chae Na;Ji-Yul Ham;Chanhee Kwak
    • 한국컴퓨터정보학회논문지
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    • 제29권1호
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    • pp.61-68
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    • 2024
  • 횡단보도에서 발생하는 교통사고를 해결하기 위한 시도가 계속되고 있지만, 교통사고는 끊임 없이 일어나는 상황이다. 특히 노인, 장애인 등의 교통약자들은 교통사고에 노출될 위험이 더 크다. 이에 대한 문제점을 주의 깊게 볼 필요가 있다. 본 논문은 교통 약자 중 휠체어, 목발과 같은 보조 기구를 이용하는 보행자를 위해 YOLO v5 모델을 활용한 객체 탐지 기술을 제안한다. 휠체어, 목발 사용자 그리고 보행자의 이미지 크롤링, Roboflow와 Mobibity Aids 데이터를 수집하였다. 일반화 성능을 높이기 위해 데이터 증강 기법을 활용하였다. 더하여 Type 2 error를 줄이기 위해 앙상블 기법을 이용하여 Recall이 96%인 높은 성능 수치를 얻었다. 이를 통해 교통약자를 목표로 YOLO 내 단일 모델을 앙상블 할 시, 객체를 놓치지 않고 정확한 탐지 성능을 보여준다는 것을 입증하였다.

서울지구 소아재활원 실태조사 (A STUDY ON THE ACTUAL CONDITIONS OF CHILDREN′S REHABILITATION CENTERS IN SEOUL)

  • 김계숙
    • 대한간호학회지
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    • 제4권1호
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    • pp.64-80
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    • 1974
  • The social understanding of the rehabilitation and welfare work for the handicapped children is nearly devoid in Korea. Especially the medical rehabilitation or nursing for them is left ign. ored as well as the literature preferential to this study is wanted. For the purpose of conducting the study of this thesis Sam Yook Children's Rehabilitation Center, Inc. and Crippled Children's Center, Yonsei University Medical center sampled out; covering three months from Aug. 1 to Oct. 30, 1973, the problems of children's rehabilitation, the characteristics of the children, the medical rehabilitation, nursing, education, and vocational rehabilitation were interviewed and widely grasped. This thesis aimed at developing the rehabilitation, the professional nursing and especially aimed at contributing to the improvement of welfare for the handicapped by analysing, observing the result of this study. The result is as follows: 1. Sam Yook Children's Rehabilitation Center, Inc. has, since its establishment, contributed to the advancement of the crippled children and its purpose consists in implementing services, medical rehabilitation, nursing, education and vocational training. Crippled Children's Center, Yonsei University Medical Center is, being based on Christianity, aiming at the medical treatment and education for the crippled children. 2. All of the children admitted in the children's rehabilitation centers are the crippled children. The ratio of boys io girls is three to two. Boys are more than girls. Orphan formed 55.2 per sent of them. About 60 per cent of them is receiving medical attention free of charge. But there is no orphan in Crippled Children's Center, Yonsei University Medical Center. 3. 15.7 per cent of them have received the previous medical attention before their admitting in the centers; in Sam Yook Children's Rehabilitation Center 8.6 percent, Crippled Children's Center, Yonsei University Medical Center 50 percent; there is remarkable difference between the two. 4. On the standpoint of period of being in the centers, the children who have been over three years in Sam Yook Children's Rehabilitation Center formed 48.7 per cent; in Crippled Children's Center, Yonsei University Medical Center 2.6 percent; there is also considerable difference between the two; they couldn't discharge from the centers owing to the economic conditions and being orphan. 5. Among the diagnosis of the crippled children, poliomyelitis formed highest 51.7 percent of them ; cerebral palsy formed 30 percent secondly in order. Environmental factors (67.8 percent formed about three times of congenital factors (23.7 percent). 6. The children who are capable of doing independently activity of daily living formed 87.9 percent; 73.2 percent can walk about 300 m by wearing brace and so on. The ratio of wearing brace or leg prosthesis formed 47.4 per cent: crutch 44.3 per cent. The medical rehabilitation service and education for the crippled, are comparatively well carried out. But it is desired to improve and cultivate the vocational training, vocational guidance and special nursing to the insufficiency of their implementation. In the tendency that the rehabilitation and welfare for the handicapped are today emphasized, International Handicapped Rehabilitation Association, declaring that 1970s are the decade of rehabilitation, urged to improve positively the policy of rehabilitation and welfare for the handicapped. But here in korea the handicapped, being the object of social prejudice, ignorance, disdain lives in obscurity. Therefore the government or the community should draw up countermeasure on social under-standing, financial support, and rehabilitation services for the handicapped as well as should endeavor to make them participate in social activities as the productive total- person though they are physically imperfect.

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지능적 족형 보행 재활 보조 로봇의 개발 (Development of an Intelligent Legged Walking Rehabilitation Robot)

  • 김현;김정엽
    • 대한기계학회논문집A
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    • 제41권9호
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    • pp.825-837
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    • 2017
  • 본 논문에서는 하지 보행 장애를 가진 환자가 사용하는 크러치에 로봇 기술이 적용된 새로운 타입의 착용식 족형 보행 재활 로봇에 대해 서술하였다. 개발된 로봇의 주된 특징은 크게 세 가지로 나뉜다. 첫 번째, 착용 방식의 특징으로서, 팔꿈치에 착용하여 환자를 보조하는 엘보 크러치와 달리 환자의 가슴부에 족형 로봇을 착용함으로써 보행 시 넓은 가슴 면적으로부터 하중을 분산시키고 팔에 작용하는 집중 하중을 제거하였으며, 팔과 손의 움직임을 자유롭게 하였다. 두 번째, 사용자의 보행 의지를 파악하는 방법으로서, 족형 로봇의 발에 부착된 3축 힘센서를 이용하여 지면 반발력의 크기와 방향으로부터 사용자의 보행의도를 추정하는 알고리즘을 제안하였고 이에 따라 가슴 착용형 로봇을 보행시켰다. 마지막으로, 계단 보행을 위한 근력 강화 방법으로서, 둔턱을 오르내리는 근력 훈련이 가능하도록 바닥 높낮이에 따라 상하 운동 궤적이 변화할 수 있는 둔턱 보행 기능을 구현하였다. 최종적으로 개발된 로봇이 보행 의도를 인지하고 로봇 다리로부터 보행 보조를 효과적으로 수행할 수 있다는 것을 실험을 통하여 확인하였고, 하지 근전도 측정을 통하여 보행 시 로봇이 하지 근력을 보조하는 성능을 정량적으로 검증하였다.

고려(高麗) 금동탑(金銅塔)을 통해 본 법주사(法主寺) 팔상전(捌相殿)의 구조형식계통(構造形式系統) (The Structural Lineage of Palsangjeon in Pubjoo Temple Analyzed through Gilt-bronze Pagoda in the Koryo Period)

  • 김경표
    • 건축역사연구
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    • 제14권1호
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    • pp.89-105
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    • 2005
  • The central aim of this thesis is to see if the structure of Palsangjeon(捌相殿) in Pubjoo Temple(法住寺), a five sto wooden pagoda in Chosen(朝鮮) Dynasty, was handed down from the ancient and middle ages. This study was performed through an analysis of Gilt-Bronze Pagoda built in Koryo(高麗) period. In other words, it is aimed at analyzing which lineage the structure of Palsangjeonbelongs to as a wooden pagoda. In analyzing the structure of Palsangjeon, I attempted to find out its source from the remains of Koryo period prior to the Chosen Dynasty. Examples are the Gilt-Bronze Pagoda, built during the Koryo period. I have also examined its relationship with other existing wooden pagodas and remains. The analysis of Palsangjeon, a five story wooden pagoda in Chosen Dynasty, focuses on the following: First, I explored the possibilities of whether the structure of Palsangjeon was newly invented in Chosen Dynasty, or if it had been derived from the wooden pagodas in the Koryo period. Secondly, I tried to find out if the stable vertical planes, with a great successive diminution ratio, were derived from the middle age, i.e. Koryo period. The results of the study of Palsangjeon through Gilt-Bronze Pagoda analysis are as follows: 1. The structure of Gilt-Bronze Pagoda, a wooden pagoda from the Koryo period, is roughly classified into the accumulation type, using pipe pillars, and the one story type using whole pillars. In the accumulation type, stories are connected in either a flat format or an intervening format. The Gilt-Bronze Pagoda is mainly composed of pipe pillars, with some whole pillars. However, the central pillar was omitted in the building structure. Generally, the upper and lower stories are connected by pipe pillars in a crutch format. All the pillars, whether they are pipe pillars or whole pillars, used Naiten(內轉) technology. The Eave supporter has the Haang type(下昻) and the Muhaang type(無下昻). In most cases, high balustrades are furnished, but few tables of high balustrades have been found. The slanting roof formats have been handed down from Paekche(百濟), Silla(新羅), or Koryo(高麗). However, the structure of the octagon is assumed to be derived from Koguryo(高句麗). The structure of the Gilt-Bronze Pagoda from the Koryo period is mainly composed of accumulated flat squares, with some spire types. intervening format, the structure of Palsangjeon used whole pillars in a half story format in which upper level side pillars are installed on the lower level tie beam. From the Bronze Pagoda from the Koryo period, we can assume that the half story format of wooden pagodas that has stable vertical planes with a great successive diminution ratio was created during the mid-Koryo period at the latest and had been idly developed by the time of the Chosen Dynasty. 3. The whole pillars in Palsangjeon are also found in Gilt-Bronze Pagodas from the Koryo period. Hence, all of the pillars in Palsangjeon seem to have been handed down from the ancient construction technology. They were also used in the construction of wooden pagodas from the Koryo period. Therefore, it is assumed that Palsangjeon was constructed using the construction technology of the Chosen Dynasty that had been developed from the wooden pagoda construction technology of the Koryo period. The stable vertical planes with a great successive diminution ratio in Palsangjeon are derived from ancient Korean wooden pagodas, which have developed into indigenous Korean wooden pagodas with fairly stable vertical planes and a great design, in the half story format of Koryo and Chosen Dynasty. Therefore, it is assumed that the structure of Palsangjeon has a systematic relationship with traditional Korean wooden pagodas and is one of the indigenous Korean wooden pagoda structures. 4. In China, the intervening format has been mainly used between stories in multi-story architecture since the ancient days. At the same time, the flat format as also used in ancient and middle ages. However, the flat format was replaced by whole pillars during the Ming(明) and Manchu(淸) Dynasties, in favor of simple and compact construction. The half-story format, in which upper level side pillars are installed on tie beams, has been found in some cases, but it doesn't seem to have been the primary construction technology. Few traces of the half-story format have been found in multi-story architecture in Japan, and it has not been used as a general construction format. By contrast, the half-story format, which seems to have been derived from the Koryo period, was used as a general construction format in multi-story architecture of the Chosen Dynasty. The construction technology of multi-story architecture is related to that of multi-story wooden pagodas, but they have different production technologies. It seems that the structure of Palsangjeon did not just adopt the construction technology of multi-story architecture in the Chosen Dynasty, but it was developed from wooden pagodas in the Koryo period, including the Gilt-Bronze Pagoda. 5. Since the ancient days, most Chinese and Japanese wooden pagodas have adopted an accumulation type of structure using pipe pillars, with accumulated pointed towers. On the other hand, though most Korean wooden pagodas have also adopted an accumulation type of structure from the ancientdays, one story type using whole pillars was created in the Koryo and Chosen Dynasties. The wooden pagoda structure of Palsangjeon, with stable vertical planes in a half story format, is a unique Korean construction technology, different from the construction technologies of Chinese and Japanese wooden pagodas. This thesis clearly determined the structural characteristics of Palsangjeon. However, various remains have yet to be analyzed in depth, to establish an accurate construction technology system. In the beginning of this thesis, I had difficulty in precisely interpreting the internal structure of the Gilt-Bronze Pagoda from its appearance. However, in the process of study, the more serious problem was that there are few remains or ruins of multi-story architecture in ancient and the middle ages of Korea. Therefore, it is urgent to discover various remains in the future. This thesis succeeded in determining the structural characteristics of Palsangjeon. However, it fell short of clarifying the structural lineage of the stable vertical planes, although they show indigenous Korean architectural taste, representing the unique national emotion, and the construction format of multi-story wooden pagodas in Korea. I hope this is clarified in the future research.

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