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하반신 마비환자를 위한 동력보행보조기의 퍼지제어 기법 개발
강성재(Sung Jae Kang),류제청(Jei Cheong Ryu),김규석(Gyu Suk Kim),김영호(Young Ho Kim),문무성(Mu Seong Mun) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
In this study, we wolud be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO’S hip joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve (MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait. As a results, the maximum hip flexion angles of RGO’s gait and PGO’s gait were about 16° and 57° respectively. The maximum angle of flexion/extention in hip joint of the patients during RGO’s gait are smaller than normal gait, because of the step length of them shoes a little bit. But maximum angle of flexion/extention in hip joint of the patients during PGO’s gait are larger than normal gait.
일반보행보조기(RGO)와 동력보행보조기(PGO)의 보행시 에너지 소모도 비교 평가 분석
강성재(Sung Jae Kang),류제청(Jei Cheong Ryu),문무성(Mu Seong Mun) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.8
The aim of this study ultimately is verifying that PGO gait is more efficient than RGO for paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79±4%(RGO) to 68±8%. The energy consumption rate was 8.65±3.3 (㎖/min/㎏) for RGO, while it decreased to 7.2±2.5(㎖/min/㎏) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.
욕창방지방석용 공기셀의 설계요소에 따른 체압 분포 특성 분석
조현석(Hyeon Seok Cho),류제청(Jei Cheong Ryu),김규석(Gyoo Suk Kim),문무성(Mu Sung Mun),이인혁(In Hyuk Lee) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.5
A finite element simulation model was developed for the performance optimization of a closed type air-cell mattress used for the ulcer prevention. An H-model with material properties of human flesh and kinematic joints were used for the calculation of the body contact pressure. The material property of rubber air-cell was evaluated by tensile test of standard specimen. We evaluated the body contact pressure distribution after laying human model on the inflated air-cell mattress. It was found that the body contact pressure was dependent on cell height, but hardly affected by the thickness of the rubber in a cell.
최혁재(Hyuk Jae Choi),강성재(Sung Jae Kang),권칠용(Chil Yong Kwon),류제청(Jei Cheong Ryu),이석민(Suk Min Lee),문무성(Mu Seong Mun) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.9
In this study, the control method of assistive robot was developed for the elderly. The control method of gait-assistant-robot was proposed considering the change of COP (Center of Pelves), BOS (Base of Support) and comparative analysis of the moving velocity for the elderly. We analyzed the movement of COP of the body and its velocity of the elderly equipped with manual walker and gait-assistant-robot. As a result, change in COP was greater from left to right than from anterior to posterior; also, the average velocity of the movement of COP and manual walker for manual walker gait was 0.7(m/s). Therefore, it is necessary to concern more on the left-right balance and synchronization of the velocity of COP.
장윤희(Yoon Hee Chang),고창용(Chang Yong Ko),정보라(Bo Ra Jeong),강정선(Jung Sun Kang),김규석(Gyoo Suk Kim),류제청(Jei Cheong Ryu) Korean Society for Precision Engineering 2018 한국정밀공학회지 Vol.35 No.1
Gait analysis is the best objective measurement tool for monitoring rehabilitation. However, it has limitations to evaluate gait recovery. Previous studies have evaluated the effect of gait training using continuous relative phase. The objective of this study was to determine the effect of gait recovery by rehabilitation gait training on lower limb coordination. We analyzed spatio-temporal parameters and CRP values of hip and knee joints based on gait analysis data obtained by 3D motion analysis system at 15 days intervals in 24 uni-lateral transfemoral amputees participated in IRP. Our results revealed that walking velocity of uni-lateral transfemoral amputees who participated in the program during a mean of 107.1 days was 49.2% faster than that at initial stage. The walking velocity showed a 46% increase at the end of 30 days after training. In gait coordination, values of CRP-RMS and CRP-SD were increased and maintained in-phase pattern. CRP showed symmetry in both limbs at the end of 90 days after training. Therefore, CRP is a significant factor in the gait recovery process. Effects of various rehabilitation training methods can be determined through CRP analysis.