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Study on Development of Portable Incubator
Amre Eizad(에이자드 아믈),Falak Zahra(파락 자흐라),Hamza Alam(함자 알람),Hassan Tahir(하산 따히르),Afrasiab Khan Bangash(아프라시압 칸 반가시),Sung-Ki Lyu(류성기) 한국기계가공학회 2019 한국기계가공학회지 Vol.18 No.9
Preterm children require a controlled environment that is as close as possible to that inside the womb. Incubators are well equipped to fulfill this requirement; however, they are cumbersome and expensive, thereby restricting their portability and availability in less developed and rural areas. This research comprises the development and system validation of a portable incubator. The system consists of a collapsible baby enclosure that can be stowed inside the system base when not in use. The enclosure is made from acrylic such that it is easy to clean and allows unhindered visual observation of the occupant while being robust enough to withstand transit conditions. The system can be powered either by a mains supply or a 12-VDC automobile power supply. Additionally, it has an onboard battery to ensure a continuous supply during transit. A Peltier plate controlled using a microcontroller ensures the desired enclosure temperature irrespective of the ambient temperature. Built-in sensor probes can measure the skin temperature, pulse rate, blood oxygenation level, and ECG of the infant and display them on the system screen. The system function is validated by testing its peak power consumption and the heating and cooling performances of the environment control system.
A 4 DOF Robot for Post-Stroke Trunk Rehabilitation
Amre Eizad,Sanghun Pyo,Hosu Lee,Muhammad Raheel Afzal,Jungwon Yoon,Sung-ki Lyu 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The human core plays a key role in maintaining stability and allowing safe execution of movements. Stability of the core depends on the strength and control of its muscles. Hemiparesis due to stroke can compromise this control, thus reducing core stability of stroke survivors. Therefore, to allow stroke survivors to safely and independently perform activities of daily living, rehabilitation therapists focus on increasing their core stability. Core rehabilitation involves performing training exercises while sitting on stable or unstable surfaces. This paper presents the development and initial testing of a system that can provide both stable and controlled unstable surfaces for the performance of trunk rehabilitation exercises. It is a 4 DOF system that can gauge the position of the user’s center of pressure (COP) using built-in instrumentation and can move according its movements. The system has a graphical interface that is used to provide movement targets to the user which they have to achieve by moving their COP. To judge the system’s capability of generating an unstable exercise surface, the COP movement tracking performance of the system has been tested. Further evaluations with healthy and stroke subjects are required to elucidate the system’s potential as a trunk rehabilitation tool.
Study on the Design and Analysis of a 4-DOF Robot for Trunk Rehabilitation
Amre Eizad(에이자드 아믈),Sanghun Pyo(표상훈),Geonhyup Lee(이건협),Sung-Ki Lyu(류성기),Jungwon Yoon(윤정원) 한국기계가공학회 2020 한국기계가공학회지 Vol.19 No.7
This paper presents the development of a robotic system for rehabilitation of the trunk’s ability to maintain postural control under different balance conditions. The system, developed with extensive input from rehabilitation and biomedical engineering experts, consists of a seat mounted on a robotic mechanism capable of moving it with four degrees of freedom (3 rotational and 1 translational). The seat surface has built in instrumentation to gauge the movements of the user’s center of pressure (COP) and it can be moved either to track the movements of the COP or according to operator given commands. The system allows two types of leg support. A ground mounted footrest allows participation of legs in postural control while a seat connected footrest constrains the leg movement and limits their involvement in postural control. The design evolution over several prototypes is presented and computer aided structural analysis is used to determine the feasibility of the designed components. The system is pilot tested by a stroke patient and is determined to have potential for use as a trunk rehabilitation tool. Future works involve more detailed studies to evaluate the effects of using this system and to determine its efficacy as a rehabilitation tool.
A Wearable Reaction Wheel based Kinesthetic Biofeedback Device for Delivery of Balance Cues
Amre Eizad,Muhammad Raheel Afzal,Hosu Lee,Jungwon Yoon,Sung-Ki Lyu 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
In order to explore mobile applications of kinesthetic cues, we recently developed a system for generating kinesthetic cues on the user’s back. Carrying on from that work, in this paper we present a completely redesigned system that utilizes a pair of reaction wheels to generate torques on the system which in-turn are perceived by the user as directed force cues being delivered to their back. It is a wearable device that wirelessly takes commands from a PC and can generate leftward and rightward directed cues. The system was tested with healthy adults with two distinct objectives. The first was to determine how well they can perceive the cues and also to determine the effect of training on cue perception. The second was to determine the effect on standing balance of directed force cues delivered as biofeedback by the system. The results show that the device can effectively deliver directed kinesthetic cues to the user without becoming a source of discomfort, and biofeedback delivered through this system aids in maintaining balance. Thus, it is indicated that the device presented here is a viable means of delivering directed kinesthetic cues to a user and thus warrants further exploration of its possible applications.
Development of Haptic Bracelets Based Arm Swing Feedback System for Stroke Survivors
Hosu Lee,Amre Eizad,Geonhyup Lee,Yeongmi Kim,Jungwon Yoon 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
For stroke survivors, the ultimate goal of rehabilitation training for community life is to increase the dynamic stability, which can be helped by increasing the walking speed or symmetry. Several researches have reported the use of haptic stimulation to increase the dynamic stability of gait. Haptic systems have many advantages such as, portability and low-cost, that make them extremely suited for rehabilitation applications. However, until now the use of these systems has been focused mainly on the lower limbs. Gait is a harmonic motion that includes both the upper and lower limbs. A study with people suffering from Parkinson’s Disease showed that it is possible to bring about spatiotemporal gait changes using an arm swing cueing device. Therefore, in this paper, we present the development and verification of a haptic bracelet designed to deliver arm swing based haptic feedback for the rehabilitation of stroke survivors. The presented system is portable, composed of inexpensive sensors and it can measure the arm swing angle correctly regardless of the location or direction of the sensor. The measurements made using the developed system were compared to those made using a standard motion tracking system and only an acceptable amount of error was found. The developed system may be used to characterize the effect of upper extremity motion modification during gait. It may also be used as a system for improving gait speed and symmetry of stroke patients using haptic vibration feedback.
Hosu Lee,Amre Eizad,Junyeong Lee,Yunho Choi,Won-Kyung Song,Kyung-Joong Kim,Jungwon Yoon 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Trunk training is an important part of the rehabilitation of people suffering from the physical effects of brain lesions caused by diseases such as stroke, as it can help improve their static and dynamic balance, while also helping to improve gait performance. In order to facilitate trunk rehabilitation and reduce therapist workload, we have developed a trunk rehabilitation robot (TRR) that can provide tunable quantitative training with the option to include sensory augmentation through various bio-feedback, in order to implement a large variety of trunk training protocols. In this paper, we have developed an error-based controller to generate the unstable seat condition using the TRR. In order to verify the feasibility of this controller, we have carried out tests with 20 young healthy subjects and compared its performance with the existing admittance controller in terms of seat movement parameters and center of pressure and trunk movement based balance parameters. The results show that although there is no statistically significant difference between the controllers in terms of the balance measures, use of the error-based controller results in lesser amount of seat movement, which may make it more comfortable for the user. However, the participants had a difference of opinion about which controller they felt to be more comfortable and easier to use.