• Therapeutic Science for Rehabilitation
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• v.7 no.3
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• pp.59-78
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• 2018

Objective : The purpose of this study was to investigate the effect of robot-assisted therapy on upper extremity function. Methods : This study used a single-subject experimental A-B-A' design. Three Parkinson's disease patients took part. Each subject received a robot-assisted therapy intervention (45 min/session, 5 sessions/week for 4 weeks). Upper extremity movement was evaluated with the Reo Assessment tool in Reogo. The Jebsen-Taylor hand motor function test, Fugle-Mayer Assessment score, Box and Block Test, and Nine-hole pegboard test were assessed pre- and post-intervention. Results : After intervention, all subjects underwent 3D motion analysis of reaching function. There was overall improvement in resistance, smoothness, direction accuracy, path efficiency, initiation time, and time to moving target with robot-assisted therapy. Robot-assisted therapy may have a positive effect on upper extremity movement in Parkinson's disease. Conclusion : Robot-assisted therapy is considered an alternative in clinical occupational therapy to improve upper extremity function in Parkinson's disease.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.235-242
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• 2007

로봇의 활동 영역이 산업 현장에서 인간의 일상 생활 공간으로 확장됨에 따라서, 로봇은 사용자가 사용하는 성능 좋은 도구 개념에서 벗어나 일상 생활을 공유하며 살아가는 파트너로 생각되기 시작했다. 이에 따라서 미리 정해진 명령과 조작 방법을 통한 단순한 상호작용만이 일어나던 과거와 달리, 사용자는 마치 사람을 대하듯 자연스럽게 로봇과 상호작용하기를 기대하게 되었다. 사람들은 본래 context를 활용하여 모호한 표현을 하더라도 상호작용이 가능하기 때문에, 사용자의 발화가 자유롭게 이루어지면 로봇이 처한 상황적 모호성은 가중될 수 밖에 없다. 이러한 문제에 직면하여, 스크립트 기반의 인간-로봇 상호작용을 통한 문제 해결 노력이 그 돌파구가 될 것으로 기대된다. 본 논문은 이러한 노력의 일환으로, 태스크 수행중인 로봇에 자유롭게 사용자가 개입하는 상황을 처리하는 방안을 제시하고자 한다. 사용자가 개입하는 상황을 어떻게 이해할 것이며, 로봇은 어떤 전략으로 이에 대처해야 하는지 분석한 뒤, 사용자 개입에 대한 구체적인 처리 프로세스를 제시한다. 그리고 제시된 프로세스를 구현해 봄으로써 그 효용성을 검증한다.

• Physical Therapy Rehabilitation Science
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• v.10 no.3
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• pp.270-277
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• 2021

Objective: The purpose of this study is to compare the effect of static balance, lower extremity function, and gait ability between a lower extremity restrain robot gait training and a general robot gait training in subacute stroke subjects. Design: Two-group pretest-posttest design. Methods: A total of 12 subacute stroke patients were randomly divided into an Experimental group (n=6) and a control group (n=6). Both groups were performed for four weeks, three times a week, for 20 minutes. To compare the Static balance function, the center of pressure (COP) path-length and COP velocity were measured. The Fugl-Meyer assessment lower extremity (FMA-LE) were evaluated to compare the Lower Extremity function. 2D Dartfish Program and 10 Meter Walking Test (10 MWT) on Gait ability were evaluated to compare the gait function. Results: In the intra-group comparison, Experimental groups showed significant improvement in COP path-length, velocity, Lower Extremity Function, 10 MWT, Cadence, by comparing the parameters before and after the intervention (p<0.05). Comparison of the amount of change between groups revealed significant improvement for parameters in the COP path-length, velocity, Lower extremity function, 10 MWT by comparing the parameters before and after the intervention (p<0.01). Conclusions: The Experimental group showed enhanced efficacy for variables such as COP path-length, velocity, Lower extremity function, 10 MWT as compared to the control group.

• Journal of Korean Academy of Nursing
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• v.45 no.3
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• pp.388-396
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• 2015

Purpose: The purpose of this study was to identify the effects on cognitive function, depression, and activities of daily living of Silver- Care-Robot Program for institutionalized elders. Methods: This study was a nonequivalent control group pretest-posttest design. The participants were 42 institutionalized elders (17 in the experimental group and 25 in the control group). The Silver-Care-Robot Program was provided as an intervention which was conducted twice a week for 5 weeks. The Silver-Care-Robot Program is an integrated entertainment program to help the mental, emotional, and physical health of elderly people. Pre-test was conducted on the two groups, and, in order to examine the effects of intervention, a post-test was conducted after 5 weeks. Results: There were significant differences in cognitive function and ADL (activities of daily living) between two groups after the program. But the difference in depression in the institutionalized elders was not statistically significant between the two groups. Conclusion: The Silver-Care-Robot Program should be considered as a regular program for cognitive function and activities of daily living for institutionalized elders.

• The Journal of Korean Physical Therapy
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• v.31 no.2
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• pp.94-102
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• 2019

Purpose: This study examined the effects of trunk control rehabilitation robot training (TCRRT) on the dynamic balance, lower extremity strength, gait ability and pain for bipolar hemiarthroplasty. Methods: Hemiarthroplasty (n=28) patients participated in this study. The subjects were randomized into two groups: trunk control rehabilitation robot training group and control group. Results: The TCRRT group showed significantly more improvement in the MFRT, MMT, 10MWT, TUG, and VAS compared to that before intervention (p<0.05). In addition, all tests were significantly greater in the experimental group than in the control group. Conclusion: These results suggest that TCRRT is feasible and effective for improving the dynamic balance, lower extremity strength, gait ability, and pain efficacy after bipolar hemiarthroplasty.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.9-11
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• 2022

Applying Reinforcement Learning in everyday applications and varied environments has proved the potential of the of the field and revealed pitfalls along the way. In robotics, a learning agent takes over gradually the control of a robot by abstracting the navigation model of the robot with its inputs and outputs, thus reducing the human intervention. The challenge for the agent is how to implement a feedback function that facilitates the learning process of an MDP problem in an environment while reducing the time of convergence for the method. In this paper we will implement a reward shaping system avoiding sparse rewards which gives fewer data for the learning agent in a ROS environment. Reward shaping prioritizes behaviours that brings the robot closer to the goal by giving intermediate rewards and helps the algorithm converge quickly. We will use a pseudocode implementation as an illustration of the method.

• Therapeutic Science for Rehabilitation
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• v.7 no.4
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• pp.79-91
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• 2018

Objective : The purpose of this study was to investigate the short-term effect of robot-assisted therapy to improve upper extremity function in subacute stroke. Method : This study was a retrospective study using the medical record. The subjects were 20 patients who were diagnosis with stroke within 6 months. All patients received general rehabilitation intervention during the experimental period and robot-assisted therapy and task-oriented training. Robot assisted therapy was composed of 1 sessions, 1hour per person and task-oriented training was same. For result analysis, descriptive statistics, paired t-test were used. Results : After intervention, all participants got 3D motion analysis about reaching. For the result, there was statistically significant improvement in smoothness in robot assisted therapy(p<.05). there was no statistically significant difference between robot assisted therapy and task-oriented training in speed, time. In this result, we knew the robot assisted therapy can short term effect in elbow joint during arm reaching. Conclusion : Robot assisted therapy is considered as alternative choice in clinical occupational therapy for improving upper extremity function in subacute stage stroke patients.

• The Journal of Korean Academic Society of Nursing Education
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• v.15 no.1
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• pp.81-88
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• 2009

Purpose: The purpose of this study was to identify the behavioral responses to a robot pet in pre-school children. Method: This activity for children was conducted for 5 days at a kindergarten and each session lasted 30 minutes. In order to measure children's temperament, Chun Heeyoung's Temperament Rating Scale was used. In addition, to investigate the behavioral responses to a robot pet, each session was videotaped. The videotape data was analyzed according to child-robot interaction. Result: On the average, subjects scored highest in emotionality and lowest in activity for the temperamental subscale. The videotape data revealed verbal, positive nonverbal, and negative nonverbal interaction. Conclusions: These results suggest that child-robot interaction reflects temperamental characteristics, therefore, to develop a nursing intervention program using a robot, it is necessary to consider individual differences and recreational factors to grab children's interest.

• The Journal of Korean Physical Therapy
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• v.35 no.1
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• pp.8-12
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• 2023

Purpose: Recently, many studies on robotic rehabilitation have been conducted, but such studies on patients with ankle sprains are lacking. This study aimed to investigate the effects of robot-assisted rehabilitation on the range of motion of the ankle and balance in patients with ankle sprain. METHODS: This study used the A-B-A' design and was conducted for a total of fifteen days. The subjects performed general physical therapy for five days each, during the baseline A and A' periods. In period B, robot rehabilitation was performed for five days, along with general physical therapy. The subjects were evaluated based on weight-bearing lunge test (WBLT), single leg stance (SLS), and functional reach test (FRT). RESULTS: The WBLT, STS, and FRT showed significant improvement in periods B and A' compared to period A, but there was no significant improvement in period A' compared to period B. Conclusion: This study confirmed that robot-assisted rehabilitation was an effective intervention for improving the function of patients with ankle sprain. In the future, a study with a control group comparison should be performed.