• 한국정밀공학회지
• /
• 제32권10호
• /
• pp.857-863
• /
• 2015

The need for human body posture robots has led researchers to develop dexterous design of exoskeleton robots. Quantitative techniques to assess human motor function and generate commands for robots were required to be developed. In this paper, we present a passivity based adaptive control algorithm for upper limb assist exoskeleton. The proposed algorithm can adapt to different subject parameters and provide efficient response against the biomechanical variations caused by subject variations. Furthermore, we have employed the Particle Swarm Optimization technique to tune the controller gains. Efficacy of the proposed algorithm method is experimentally demonstrated using a seven degree of freedom upper limb assist exoskeleton robot. The proposed algorithm was found to estimate the desired motion and assist accordingly. This algorithm in conjunction with an upper limb assist exoskeleton robot may be very useful for elderly people to perform daily tasks.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.1303-1306
• /
• 2004

We developed a symmetrical upper limb motion trainer for chronic hemiparetic subjects. This trainer enabled the practice of a forearm pronatio $n^ination and wrist flexion/extension. In this study, we have used functional magnetic resonance imaging(fMRI) with the developed symmetrical upper limb motion device, to compare brain activation patterns elicited by flexion/extension wrist movements of control and hemiparetic subject group. In control group, contralateral somatosensory cortex(SMC) and bilateral cerebellum were activated by dominant hand movement(Task 1), while bilateral movements by dominant hand(Task 2) activated the SMC in both cerebral hemispheres and ipsilateral cerebellum. However, in hemiparetic subject group, contralateral supplymentary motor area(SMA) was activated by unaffected hand movement(Task 1), while the activation of bilateral movements by unaffected hand(Task 2) showed only SMA in the undamaged hemisphere. This study, demonstrating the ability to accurately measure activation in both sensory and motor cortex, is currently being extended to patients in clinical applications such as the recovery of motor function after stroke.ke.

• 대한약침학회지
• /
• 제12권4호
• /
• pp.119-126
• /
• 2009

Purpose: In order to estimate clinical effects of acupotomy and venesection in a patient with peripheral neuropathy and upper limb lymphedema following breast cancer surgery. Methods: From 17th August, 2009 to 29th August 2009, 1 female patient with peripheral neuropathy and upper limb lymphedema following breast cancer surgery was treated with general oriental medicine therapy(acupuncture, moxibustion, cupping, physical therapy, herbal medication) and acupotomy with venesection. Results: The patient's chief complaints- Lt hand numbness, Lt arm edema, Lt. wrist flexion limitation - were notably improved. Conclusions : This study demonstrates that oriental medical treatment with acupotomy and venesection therapy has significant effect in improving symptoms of peripheral neuropathy and upper limb lymphedema following breast cancer surgery, as though we had not wide experience in this treatment, more research is needed.

• 대한산업공학회지
• /
• 제30권2호
• /
• pp.76-83
• /
• 2004

This study aimed to empirically investigate perceived discomfort depending upon external load, upper limb postures and their holding time. Discomfort was obtained through an experiment, in which external load, wrist flexion/extension, elbow flexion, shoulder flexion and adduction/abduction were used as experimental variables. The subjects were instructed to hold given postures for 60s and to rate their subjective discomfort scores at 5s, 20s, 40s and 60s by using the free modulus method of magnitude estimation. The results showed that while only external load and elbow flexion were statistically significant at the holding time of 5s at ${\alpha}=0.05$ or 0.10, external load and upper limb postures excluding shoulder adduction/abduction significantly affected discomfort ratings at 20s, 40s and 60s at ${\alpha}=0.01$ or 0.05. Discomfort scores were also significantly different between four posture holding times at ${\alpha}=0.01$. The effects of external load and holding time were much larger than those of upper limb postures. Based on the results of this study, it is recommended that external load and holding time as well as working postures betaken into consideration to precisely quantify postural load in industry.

• 대한한의학회지
• /
• 제16권2호
• /
• pp.312-319
• /
• 1995

The purpose of this study was to know the difference of the effect between the E- A and the S-A. The 19 patients complaining the pain on the neck, shoulder and upper limb were chosen, divided and controled by two groups; One was the E-A group treated at upper limb meridian point, the other was the therapy group treated by S-A at the scalp and E-A at upper limb meridian point together. In 20 minutes after treatment, the change of plasma cortisol concentration was observed. The results were as follows: 1. In E-A group, there was no significant change of plasma cortisol concentration. 2. In S-A and E-A group, there was significant increase to plasma cortisol concentration. In conclusion, it seems that the increased stimulation by the treatment of S-A and E-A together has close relation with the plasma cortisol concentration. And the further study about the intensity of acupuncture stimulation and S-A is expected.

• 대한의용생체공학회:의공학회지
• /
• 제41권6호
• /
• pp.264-271
• /
• 2020

The purpose of this study was to investigate the effects of active vibration exercise of upper limb on physical capacity index (endurance, grip strength, balance, and flexibility) and vasomotor index (capillary length and body surface temperature) in middle aged women. 20 participants randomly divided into two groups: vibro-swing exercise (VSE) and non vibro-swing exercise (NVSE). Subjects in each group measured the 30 second arm curl test, hand dynamometer, one leg standing test, back scratch test, nail fold capillary microscope (NFM), and digital infrared thermal imaging (DITI) before and after exercise. The results showed that active vibration exercise of upper limb with vibro-swing equipment increased the endurance, balance ability, and the capillary length. In addition, changes in body temperature immediately after exercise were predicted to affect vasomotor. Active vibration exercise of upper limb has the advantage of being able to exercise anywhere regardless of the location by inducing different frequency changes in movement of various ranges and velocity. For this reason, the combination of vibration and active movement can be expected the physiological effects when producing exercise programs for middle aged women.

• 로봇학회논문지
• /
• 제18권4호
• /
• pp.359-366
• /
• 2023

In order to fully utilize the functions of the hand which is the end effector of the upper limb, other parts of the upper limb have to perform their own roles. Among them, the pronation and supination of the forearm, which allows the hand to rotate along the longitudinal direction of the forearm, play an important role in activities of daily living. In this paper, a soft wearable robot that assists the pronation and supination of the forearm for individuals with weakened or lost upper limb function is proposed. The wearable robot consists of an anchoring part with polymer (wrist strap, elbow strap), a tendon with a belt and wire, and an actuation module. It was developed based on the requirements with respect to friction of anchoring part, forearm compression, and friction of the tendon. It was confirmed that these requirements were satisfied through literature review and experiments. Since all components exist within the forearm when worn, it is expected to be easy to combine with the already developed soft wearable robots for the hand, wrist, elbow, and shoulder.

• PNF and Movement
• /
• 제15권1호
• /
• pp.27-33
• /
• 2017

Purpose: This study examined the effects of upper- and lower-limb coordinated exercise with proprioceptive neuromuscular facilitation (PNF) on stroke patients' recovery of their balancing and walking abilities. Methods: This study was conducted with 30 patients aged at least 60 years and diagnosed with stroke. The patients were randomly assigned to either a PNF upper- and lower-limb coordinated exercise group of 15 patients or an aero-step balance exercise group of 15 patients. To test the subjects' balancing and walking abilities, balancing ability tests and 10-m walking speed tests were conducted before and after the interventions. The patients performed their respective exercises for 30 minutes per session, three times per week for four weeks. The PNF exercise group performed six stages of exercise consisting of a combination of PNF patterns such as sprinting, skating, and striking. The six stages (right striking, right skating, right sprinting, left striking, left skating, and left sprinting) were performed continuously with a rest period of 1 min. after training for 4 min. The exercises for the aero-step balance group consisted of balancing in a two-leg standing position, weight shifting in a two-leg standing position, one-leg standing, squat exercises, marching in place, and squatting on an aero step. Results: The PNF exercise group showed significant improvements in their balancing ability evaluations compared to the aero-step balance group and also showed significant improvements in their 10-m walking speed tests. Conclusion: Based on the results of this study, PNF upper- and lower-limb coordinated exercise resulted in clinical improvements of stroke patients' balancing and walking abilities. Therefore, this type of exercise is recommended as a clinical intervention for the recovery of stroke patients' lower-limb function. Future studies should be conducted with longer intervention periods and more subjects to generalize the study results.

• Journal of Acupuncture Research
• /
• 제27권4호
• /
• pp.115-125
• /
• 2010

Objectives : The purpose of this study is to determine the effect of Bee-venom Acupuncture on upper limb spasticity control in stroke patients. Methods : Ten stroke patients with upper limb spasticity were randomly divided into two groups, a Bee-Venom Acupuncture group(group I) and a normal saline group(group II). After 1 week resting phase, this trial was used a cross-over trial. The numbers of Pharmacopuncture treatment were 3 times a week for 3 weeks. Modified Ashworth Scale(MAS), WMFT(Wolf Motor Function Test), The 10-second Test were used for evaluation of spasticity control before experiment, after 1 week, 2 weeks, 3 weeks. Results : Group I showed significant improvement(p<.05) in MAS, WMFT, The 10-second Test. But Group II showed no significant improvement(p<.05) in MAS, WMFT, The 10-second Test. The results showed significant difference in WMFT, The 10-second Test, but no significant difference in MAS between two groups. Conclusions : These results showed that Bee-venom Acupuncture might decrease upper limb spasticity and increase arm motor function in stroke patients. Further studies will be required to examine more cases in the long period for the effect on upper limb in spasticity by Bee-Venom Acupuncture.

• 한국콘텐츠학회논문지
• /
• 제20권6호
• /
• pp.114-123
• /
• 2020

본 연구는 뇌졸중 환자에게 하지 근력강화 프로그램이 균형, 보행 및 상지 기능에 미치는 효과에 대해서 알아보았다. 신경계 손상 환자가 있는 병원을 기반으로 해서 하지 근력 강화에 대한 연구 방법을 만들어서 진행하였고, 무작위대조시험을 적용하였다. 24명의 뇌졸중 환자를 두 군으로 분류하였다. 하지 근력 강화 프로그램그룹 (Lower extremity strengthening program group, LESPG) (12명)과 트레드밀 훈련그룹 (Treadmill trainig group, TTG) (12명)으로 실험하였다. LESPG는 마비측에 하지 근력 강화프로그램을 수행하였다. TTG는 하루 30분 동안 트레드밀 운동을 적용하였다. 평가 도구는 일어나서 보행 검사(Timed Up and Go test, TUG), 기능적 보행평가 (Functional Gait Assessment, FGA) 및 뇌졸중 상지 기능검사(Manual Function Test, MFT)를 적용하였다. 균형, 보행 및 상지 기능에 대한 두 군 간의 TUG, FGA 및 MFT 점수는 LESPG가 TTG보다 유의한 차이가 있었다(p<.01). 4주간의 하지 근력강화 프로그램의 효과는 뇌졸중 후 편마비 환자의 균형, 보행 및 상지 기능에 효과가 있었다.