• Advances in robotics research
• /
• 제2권3호
• /
• pp.237-245
• /
• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• International Journal of Advanced Culture Technology
• /
• 제11권1호
• /
• pp.296-305
• /
• 2023

The purpose of this study is to measure and compare the balance of motion between the left and right using a wearable sensor during upper limb exercise using an exercise equipment. Eight participants were asked to perform upper limb exercise using exercise equipment, and exercise data were measured through IMU sensors attached to both wrists. As a result of the PCA test, Euler Yaw(Left: 0.65, Right: 0.75), Roll(Left: 0.72, Right: 0.58), and Gyro X(Left: 0.64, Right: 0.63) were identified as the main components in the Butterfly exercise, and Euler Pitch(Left: 0.70, Right 0.70) and Gyro Z(Left: 0.70, Right: 0.71) were identified as the main components in the Lat pull down exercise. As a result of the Paired-T test of the Euler value, Yaw's Peak to Peak at Butterfly exercise and Roll's Mean, Yaw's Mean and Period at Lat pull down exercise were smaller than the significance level of 0.05, proving meaningful difference was found. In the Symmetry Index and Symmetry Ratio analysis, 89% of the subjects showed a tendency of dominant limb maintaining relatively higher angular movement performance then non-dominant limb as the Butterfly exercise proceeds. 62.5% of the subjects showed the same tendency during the Lat pull down exercise. These experimental results indicate that meaningful difference at balance of motion was found according to an increase in number of exercise trials.

• 재활복지
• /
• 제17권4호
• /
• pp.401-420
• /
• 2013

본 연구는 신경인지재활치료가 뇌졸중 환자의 상지기능 회복과 일상생활동작 수행능력에 미치는 효과를 알아보고 장기적인 치료를 위한 기초자료를 제시하고자 한다. 연구대상은 뇌졸중으로 인한 편마비 환자 총 30명을 대상으로 신경인지재활치료군과 전통적인 작업치료군을 각각 15명씩 무작위로 선정하였으며, 실험은 1회 30분, 주 5회, 4주 동안 적용하였다. 대상자의 실험 전과 후의 기능회복 정도는 뇌졸중 상지기능검사(Manual Function Test; MFT)와 Fugl-Meyer Assessment Scale(FMA), 한국판 수정바델지수(Korean-Modified Bathel Index; K-MBI) 점수를 활용하였다. 연구 결과 신경인지재활치료군이 상지기능검사에서 MFT와 FMA 측정값이 유의하게 증가하였으며(p<.05), 두 군 간의 차이를 비교한 결과 상지기능이 통계학적으로 유의한 차이를 보였다. 일상생활동작 검사에서는 신경인지재활치료군에서만 K-MBI 값이 유의하게 향상되었다(p <.05). 연구결과를 통하여 신경인지재활치료가 뇌졸중 환자의 상지 기능과 일상생활동작 수행능력향상에 효과적임을 알 수 있었다.

• 한국산학기술학회논문지
• /
• 제20권5호
• /
• pp.292-299
• /
• 2019

본 연구는 치료적 클라이밍 훈련이 뇌졸중 환자의 상지기능과 삶의 질에 미치는 효과를 알아보고, 임상적으로 중재될 수 있는지에 대한 가능성을 제시하는데 그 목적이 있다. 본 연구는 14 명의 뇌졸중 환자를 대상으로 하였으며, 7명의 치료적 클라이밍 훈련군과 7명의 대조군으로 지정하였다. 실험군은 일반적 물리치료와 작업치료를 시행하였고, 추가적으로 포츠담모델을 이용한 치료적 클라이밍 훈련을 6주 동안 주 3회, 총 30분 씩 훈련을 진행하였다. 대조군은 일반적 물리치료와 작업치료를 적용하였다. 상지기능은 Manual Function Test로 측정하였고, 삶의 질은 Short Form 36-item으로 측정하였다. 측정 결과, 그룹 내 시기에 따라 실험군의 상지기능은 유의한 차이가 있는 것으로 나타났다(p<.05). 삶의 질은 그룹 내 시기에 따라 실험군의 유의한 차이가 있었고, 각 그룹 간의 비교에서는 실험군이 대조군에 비하여 유의한 차이가 있었다(p<.05). 본 연구를 통해 뇌졸중 환자에게 포츠담 모델을 적용한 치료적 클라이밍 훈련이 상지기능과 SF-36점수를 증가시켜 삶의 질에 긍정적인 효과를 가져왔다. 따라서 향후 치료적 클라이밍을 이용한 훈련을 통해 뇌졸중 환자의 재활이나 임상 적용 중재에 있어서 가치가 있음을 확인할 수 있었다.

• 재활치료과학
• /
• 제11권3호
• /
• pp.37-50
• /
• 2022

목적 : 최근 3년간 국내 및 국외 학회지에 게재된 뇌졸중 편마비 환자의 상지 운동 또는 기능 평가에 근전도가 사용된 연구에 대해 알아보았다. 연구방법 : 뇌졸중 환자의 상지 운동 또는 기능 평가에 근전도가 사용된 연구를 검토하기 위해 데이터베이스 PubMed, EMBASE, Scopus, RISS, KISS를 사용하여 문헌을 검색하였다. 검색어는 ('stroke' OR 'hemiplegia') AND ('EMG' OR 'electromyography' OR 'electromyogram' OR'muscle activity') AND ('Upper limb' OR 'Hand') 또는 (뇌졸중 OR 편마비) AND (근전도 OR 근활성도) AND (상지 OR 상지기능 OR 손)을 사용하였다. 검색 기간은 2018년 1월 1일부터 2021년 12월 31일로 설정하였다. 결과 : 최종적으로 15편의 연구가 도출되었으며, 뇌졸중 편마비 환자를 근전도를 사용해 평가할 때 근활성도를 평가하는 연구가 가장 많았으며, 일상생활과 밀접한 과제를 수행하는 중재, 보조도구를 사용한 중재, 단순 동작의 반복을 제공하는 중재 등이 가장 빈번하게 사용되었다. 결론 : 근전도 검사를 사용해 상지기능을 평가할 때, 연구 목적에 따라 함께 사용할 수 있는 평가도구를 제시하고, 평가 시 근전도 검사를 활용할 수 있는 중재를 설정하는 근거를 제공한다는 의의가 있다.

• 재활치료과학
• /
• 제8권4호
• /
• pp.7-18
• /
• 2019

목적 : 경두개 직류 자극과 강제 유도 운동 치료의 결합된 중재를 적용한 뇌졸중 환자의 회복과 관련된 연구 동향을 알아보고, 중재 계획 시, 도움이 될 수 있는 정보 및 근거를 제시하는 데 목적이 있다. 연구방법 : 전자 데이터베이스 PubMed, NDSL 등을 이용하여 2009년 1월부터 2018년 12월까지 10년간 온라인 데이터에 등록된 논문을 검색하였다. 주요 검색어로 'Transcranial direct current stimulation' or 'tDCS', 'Constraint-induced movement therapy' or 'CIMT', 'Upper extremity function', 'Upper limb', 'Stroke'을 혼용하여 사용하여 본 연구의 선정기준과 배제기준에 부합하는 6편의 논문을 최종 선정하여 분석하였다. 결과 : 경두개 직류 자극의 적용 전류의 세기, 적용시간 등과 강제 유도 운동 치료의 프로토콜은 다양한 방법으로 이루어져 있었지만, 경두개 직류 자극 직 후 CIMT를 시행하는 중재 절차는 동일하게 시행되었다. 중재 효과를 알아보기 위해 상지기능, 일상생활동작, 대뇌피질 활성도 평가 등이 사용되었다. 경두개직류 자극과 강제 유도 운동 치료의 결합된 중재는 뇌졸중 환자의 상지기능과 일상생활동작 개선에 효과적인 것으로 나타났으며, 대뇌피질의 활성화에도 유의미한 효과가 있는 것으로 나타났다. 결론 : 본 연구를 통해 경두개 직류 자극과 강제 유도 운동 치료의 결합된 중재 적용에 필요한 정보 제공 및 근거를 마련하였다. 추후 연구를 통해, 경두개 직류 자극의 자극시간과 전류의 세기, 전극의 부착 위치 등에 대한 일반화가 필요할 것이며 가장 적절한 강제 유도 운동 치료 프로토콜을 사용하여 큰 모집단을 대상으로 장기간 추적 관찰을 포함한 무작위 대조군 실험연구가 필요하다.

• 한국전문물리치료학회지
• /
• 제8권2호
• /
• pp.29-39
• /
• 2001

The purpose of this study was to examine the effect of the upper limb nerve mobilization (ULNM) on functional recovery of upper extremity in hemiplegic patients following stroke. Twenty patients who had functional impairment on upper extremity were participated. Subjects were randomly divided into two groups: Control group (n=10) received traditional physical therapy only for 4 weeks; Experimental group (n=10) received ULNM treatment along with traditional physical therapy for the same period. Upper extremity functions were assessed by manual muscle test (MMT), modified Ashworth scale (MAS), and Fugl-Meyer assessment (FMA) before and after the treatment. In both experimental and control group, upper extremity functions were significantly improved in MMT (p<.01) and FMA (p<.01), however only experimental group showed significant improvement in FMA after the treatment (p<.05). Moreover, experimental group showed significantly greater improvement than control group in MMT (p<.05), MAS (p<.05), and FMA (p<.05). We conclude that the upper extremity functions is a useful additional therapeutic technique for the effective treatment of upper extremity deficits in hemiplegic patients.

• 한국치위생학회지
• /
• 제18권3호
• /
• pp.269-280
• /
• 2018

Objectives: The purpose of this study was to investigate the change in the posture of dental hygiene students and clinical dental hygienists when implementing dental scaling before and after posture correction training using the rapid upper limb assessment (RULA) method and 3D motion analysis. Methods: Thirty-two healthy volunteers performed dental scaling to remove artificial calculus on dental manikin. The movement and angle of the joints were verified by RULA and 3D motion analysis during the procedure. The subjects were also photographed for 1 minute during the procedure for 10 minutes while the calculus was removed. After the removal of the calculus, the subject and the instructor checked the video together. Posture correction training was conducted by the instructor so that the subject could perform the calculus removal operation in the correct posture. Artificial calculus of the adjacent teeth was then removed for the same period of time, and the change in posture was reviewed. Results: The total score of the posture change using RULA was $5.72{\pm}0.58$ before training and $4.31{\pm}0.10$ after training, showing a significant decrease after training (p<0.001), and upper arm, lower arm, wrist position, neck and waist position showed significant decrease after training. The three-dimensional motion analysis showed significant differences according to the criteria measured at all measurement sites except the left shoulder (p<0.05) Conclusions: It was confirmed through RULA and 3D motion analysis that postural correction training using calculus removal images was effective, and that correct postural education is essential to preventing musculoskeletal diseases caused by removal of calculus.

• 보건교육건강증진학회지
• /
• 제15권1호
• /
• pp.179-194
• /
• 1998

This study focused on the body composition of Korean Basketball Players in Dual X -ray Absorptiometry. The principal subjects of this study were 10 Basketball Players who participated in the process of Dual Energy X -ray Absorptiometry at K.H. University Hospital for 8 months from Sept. 1. 1996 to April, 30. 1997. On the basis of the these measurements, the authors calculated physical indices and total fat percent. On the results of bone densitometry, the author analyzed body fat weight, body composition according to body position, bone mineral density and discerned the difference between the fatness which was calculated indirectly and which gained from the bone densitometry. 1. General Characteristics The mean age of the subjects was 20.4$\times$1.35 year. 2. Physical. Measurement The mean physical growth and development of the subjects were superior to standard value of the average Koreans 3. Body Fat by Physical Measurement Body surface area was 2.019$\times$0.111$m^2$, body volume was 74.4$\times$7.2$\ell$, body density was 1.041$\times$0.007$\ell$/kg, and body fat percent was 24.9$\times$2.9%. 4. Body Fat by Bone Densitometry Total body fat percent was 15.17$\times$2.19% and according to body position that of upper limb was 1.62%, that of lower limb was 5.55%, that of trunk was 7.06% and that of head was 1.05%. There was significant difference between the amounts of body fat from the methods used in this study; that from physical measurements and from bone densitometry method could be said most desirable. 5. Body composition According to Body Position Trunk was highest at 46.7%, lower limb was 36.0%, upper limb was 10.6%, and head was 6.7% in order. 6. Bone Mineral Content and Bone Density In bone mineral amount by body position, that of upper limb was 466.9$\times$46.4g, that of lower limb was 1,424.1$\times$154.0g, that of trunk was 1,343.0$\times$150.3g, and total bone mineral content was 3,786.8$\times$348.4g(4.78$\times$0.13%). Bone mineral density by body position, that of upper limb was 0.758$\times$0.072g/$\textrm{cm}^2$, that of lower limb was 1,342$\times$0.095g/$\textrm{cm}^2$, that of trunk was 1,169$\textrm{cm}^2$0.082g/$\textrm{cm}^2$, that of head was 1,742$\times$0.154g/$\textrm{cm}^2$ and total bone mineral density was 1,204$\times$0.077g/$\textrm{cm}^2$.

• 제어로봇시스템학회논문지
• /
• 제21권6호
• /
• pp.510-517
• /
• 2015

For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.