• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.1
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• pp.63-70
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• 2011

This paper presents the design and operating characteristics of the novel cylindrical linear motor which is designed for the long stroke XY stage. In the long stroke structure, the air gap is changed by the distortion and bending effects, and it makes additional position error in the XY stage. In order to consider the distortion and bending effects of the long stroke, the field part of the cylindrical linear motor is designed as an open structure, and the stroke is supported by the bridge guide which is positioned in the open field part. The mechanical bridge guide can reduce the bending effects of the stroke and can keep a constant air gap. The detailed design process of the proposed cylindrical linear motor is presented in this paper. The proposed motor is analyzed by the 3D FEM technology. The practical XY stage which uses the proposed motor is tested to verify the propose novel cylindrical linear motor. The FEM and experimental results show the effectiveness of the proposed motor.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.5
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• pp.529-536
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• 2013

Most serious stroke patients have the paralysis on their wrists, and can't use their hands freely. But their wrists can be recovered by rehabilitation exercises. Recently, professional rehabilitation therapeutists help stroke patients exercise their wrists in hospital. But it is difficult for them to rehabilitate their wrists, because the therapeutists are much less than stroke patients in number. Therefore, the wrist twist-exercise rehabilitation robot that can measure the twist force of the patients' wrists is needed and developed. In this paper, the six-axis force/moment sensor was designed appropriately for the robot. As a test result, the interference error of the six-axis force/moment sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist twist force of the patient.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.278-282
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• 1995

We developed a part of storke sensing cylinder using magnetic sensor and estimated is performance. In this paper, for the performance estimation of stroke sensing cylinder. We consist of hydrallic system using solenoid valve with ON/OFF motion. In order to the control of solenoid valve for the position control of cylinder rod, PWM (Pulse Width Modulation) method which modulates time pulse width in proportion to error was used. A performance of cylinder rod with magnetic scales was evaluated by its hydraulic system.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.655-666
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• 2010

Purpose : The examine the reliability and validity of the modified Emory Functional Ambulation Profile(mEFAP) for assessing gait function in chronic stroke patients. Methods : A total of 45 stroke patients, who had a stroke more than 6 months, participated in the study. Reliability was determined by Intra-class Correlation Coefficient($ICC_{3,1}$), including Bland and Altman method (Standard Error of Measurement: SEM, Small Real Differences: SRD). Validity was examined by correlating results to the gait ability(mEFAP, Modified Motor Assessment Scale-Gait(MMAS-G), Scandinavian Stroke Scale-Gait(SSS-G), Functional Ambulation Category(FAC), 10m Waking Test(10m WT)), and Fugl Meyer-Lower/Extremity(FM-L/E), Berg Balance Scale(BBS). Results : Inter-rater reliability for the total mEFAP was High($ICC_{2,1}$=.998), and absolute reliability were excellent (SEM: 1.75, SRD: 4.85). Subjects without assistance factor performed better on all tests than did subjects who had stroke. There were significant correlations between the mEFAP and MMAS-G, SSS-G, FAC(r=-.66~-.79), 10 m WT(r=-.86), and FM-L/E, BBS(r=-.72~-.78), indicating good validity. Increased times on the mEFAP correlated with poor performance on the gait ability, motor function of lower extremity, BBS and slow gait speeds on the 10 m WT in stroke patients. Conclusion : The mEFAP can be administered easily and comprehensively. It is a reliable gait assessment tool for patients with stroke and correlated with known of function, the mEFAP may be a clinically useful measure of ambulation.

• Physical Therapy Korea
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• v.21 no.2
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• pp.18-27
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• 2014

The purpose of this study was to examine the effects of dual-task training (cognitive and exercise tasks) on the balance and gait performance of chronic stroke patients. Eighteen subjects with chronic stroke were divided equally into two groups, an experimental group and a control group. Subjects in both groups participated in an exercise program, performing the same tasks, for 45 minutes per day, three times per week for four weeks. The experimental group also performed additional cognitive task. The experimental group showed a more significant improvement than the control group on the Berg Balance Scale, the Timed Up and Go Test, the Korean Activities-Specific Balance Confidence Scale, and the Functional Gait Assessment (p<.05). The cognitive task error rates in the final week were significantly less than in the first week in the experimental group (p<.01). These results suggest that dual-task training for chronic stroke patients is effective in improving balance, gait, and cognitive abilities.

• Physical Therapy Rehabilitation Science
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• v.3 no.2
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• pp.134-141
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• 2014

Objective: The purpose of this study was to compare with different distance across three conditions in stroke survivors with the grading of cognitive state. Design: Cross-sectional study. Methods: Twelve stroke patients who agreed to active participation were included. Participants were allotted to normal cognitive (CN) group (n=7) and cognitive impairment (CI) group (n=5) and then walked on a self-paced walkway at three conditions on the Time Up and Go (TUG) test and the 6 minute walk test (6MWT): 1) walking with your comfortable speed, 2) walking while carrying a tray with glasses, 3) walking with a verbal cognitive task. The TUG test was repeated three successful times on each condition. For the 6MWT, participants were tested one time. Results: The CI group walked slower than the CN group at the three conditions on the TUG test. However, there was no significant difference between two groups to each condition. A significant effect of dual tasking was found only in error of verbal cognitive task condition for the TUG test (p<0.05). On the 6MWT, the participants in the CI group walked short distance rather than the CN group (p<0.05). There were significant differences between two groups not only at all conditions but also at error of verbal cognitive task condition as well (p<0.05). Conclusions: To consider the results of different distances such as the TUG test and the 6MWT, we think that exercises in long distance would be more effective to patients with CI. Those would be improved patient's endurance in cognitive problem.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.467-474
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• 2017

To investigate the intra-rater absolute reliabilities and validity of the Figure of-Eight Walk test (F8WT) in patients with chronic stroke. A total of 36 subjects with chronic stroke participated in this study. The inter-rater reliability of F8WT was calculated using intra-class correlation coefficients($ICC_{2,1}$). Moreover, we used the standard error measurement (SEM) and the small real difference (SRD) to examine the absolute reliability indices. The validity was demonstrated by a spearman correlation of F8WT with Postural Assessment Scale for Storke(PASS) and Trunk Impairment Scale(TIS). The inter-rater reliability of F8WT was excellent; ICC2,1=0.95(0.91~0.97), acceptable SEM=1.02, and SRD=2.82. F8WT were also found to be significantly associated with PASS(r=-0.82) and TIS(r=-0.85). Therefore, F8WT is a reliable measurement tool and is correlated well with stroke-impairments, such as postural and trunk control. F8WT will be a useful tool in evaluating the walking performance of subjects with chronic stroke.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.413-420
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• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.753-761
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• 2012

This paper describes development of a hand and finger fixing system for the rehabilitation exercise of patient's fingers. In order to exercise the finger rehabilitation using a finger rehabilitation robot, a patient's hand or fingers are fixed safely. In this paper, The hand and fingers fixing system can safely fix stroke patient's hand and fingers by pressing with force control system. The characteristic test of the system was carried out. It is thought that the system could be used for fixing their fingers in stroke patient's finger rehabilitation exercise.