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Gait Analysis based on a Hidden Markov Model
Joonbum Bae 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
For effective rehabilitation treatments, the status of a patient’s gait needs to be analyzed precisely. Since the gait motions are cyclic with several gait phases, the gait motions can be analyzed by gait phases. In this paper, a hidden Markov model (HMM) is applied to analyze the gait phases in the gait motions. Smart Shoes are utilized to obtain the ground contact forces (GRFs) as observed data in the HMM. The posterior probabilities from the HMM are used to infer the gait phases. The proposed gait phase analysis methods are applied to actual gait data, and the results show that the proposed methods can be used to diagnose the status of a patient and evaluate a rehabilitation treatment.
Network-Based Rehabilitation System for Improved Mobility and Tele-Rehabilitation
Joonbum Bae,Wenlong Zhang,Tomizuka, Masayoshi IEEE 2013 IEEE transactions on control systems technology Vol.21 No.5
<P>In this brief, a network-based rehabilitation system, which takes advantage of the Internet, wireless communication, and control, is proposed to increase the mobility of a rehabilitation system and to enable tele-rehabilitation. In the proposed system, control algorithms and rehabilitation strategies are distributed at the central location (physiotherapist) and the local site (patient) by communicating over the Internet, and the rehabilitation device is controlled wirelessly by the controller at the local site. In order to deal with possible packet losses over the local wireless network, a modified linear quadratic Gaussian controller and a disturbance observer are applied. The simulation and experimental results with an actual knee rehabilitation system show that the proposed network-based rehabilitation system can generate the desired assistive torque accurately in a network environment.</P>
Gait Phase-Based Control for a Knee Assistive System
Joonbum Bae,Kyoungchul Kong 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia) set challenges in the control of actuators in a force/torque mode. The resistive factors include nonlinear effects and should be considered in the controller design to generate the desired force accurately. Moreover, the uncertainties in the plant dynamics make the precise torque control difficult. In this paper, nonlinear control algorithms are exploited for a rotary series elastic actuator to generate the desired torque precisely in the presence of nonlinear resistive factors and modeling uncertainty. The performance of the proposed controller is verified by experiments with actual walking motions
배달이륜자동차 주행행태 분석 연구 - 아파트단지를 중심으로
임준범(Joonbum Lim),김형규(Hyungkyu Kim),조효원(Hyowon Cho),이혜린(Hyerin Lee) 한국산학기술학회 2021 한국산학기술학회논문지 Vol.22 No.9
최근 우리나라는 배달을 이용한 외식업문화가 대중화되었으며, 모바일 배달앱의 개발과 COVID-19로 인해 배달수요가 2020년에 2019년 대비 698% 증가하였다. Door to Door 서비스를 지향하는 소비자들의 요구에 맞춰 인구밀집지역에서 이륜차를 이용한 배달통행이 더불어 증가하고 있으나, 이륜차 통행관련 교통사고 예방대책은 개선이 미흡하다. 특히 사유지인 아파트 내 도로는 교통관련 법령의 사각지대로 이륜차 사고예방에 취약한 상황이다. 이에 본 연구에서는 지난 5년간(2015~2019년) 경찰청 및 보험사 교통사고자료를 기반으로, 배달이륜자동차 사고특성을 분석하였다. 운전자의 신호위반 사고가 60%, 중앙선 침범 16%로 법규위반원인이 높았으며, 30세 미만의 운전자가 74.4%로 대다수로 나타났다. 세부원인 분석을 위해 통행실태를 영상기반의 TCA(Traffic Conflict Analysis)를 실시하였으며, 보행로 이륜차 차단시설이 없는 아파트 단지의 경우 TC(Traffic Conflict) 비율이 7%~31%로 발생하였고, 평균속도는 40㎞/h로 과속상황이었다. 또한, 이륜차 주행행태에 대한 이용자관점의 설문조사를 수행하였으며, 교통사고 및 TC의 원인은 제도 부재 및 이륜자동차 운전자의 안전의식 문제로 분석되었다. 상기 원인에 대하여 교통안전시설설치, 단속시스템, 자격제도 개선으로 분류하여 국내 아파트 내 도로 배달이륜자동차 주행특성에 상응하는 안전대책을 제시하였다. The restaurant delivery business has become popular in Korea, and the demand for delivery increased by 698% in 2020 compared to 2019. Delivery traffic using motorcycles is increasing in densely populated areas in line with the needs of consumers aiming for door-to-door services, but measures to prevent two-wheeled vehicle traffic accidents are insufficient. Therefore, this study analyzed the characteristics of two-wheeled delivery vehicle accidents based on traffic accident data from the National Police Agency and insurance companies over the past five years (2015-2019). The data showed that approximately 60% of drivers’ signal violations and 74.4% of delivery drivers under 30 years were associated with accidents. A video-based TCA was conducted to analyze the precise cause of traffic accidents. The TC ratio ranged from 7% to 31% in apartment complexes without two-wheeled vehicles blocking facilities on pedestrian roads. The average speed was 40 ㎞/h. The survey of the user’s perspective on two-wheeled vehicle driving behavior was conducted, and the causes of traffic accidents were analyzed as problems with the absence of a system and safety awareness of two-wheeled vehicle drivers.
An unusual presentation of osteoblastoma of the maxilla: A case report
Lim, Joonbum,Hinchy, Nicole,Odingo, Nora,Colosi, Dan,Mahdian, Mina Korean Academy of Oral and Maxillofacial Radiology 2021 Imaging Science in Dentistry Vol.51 No.-
This report presents a rare case of maxillary osteoblastoma in a 17-year-old female. The patient presented with dull pain and facial asymmetry inferior to the left zygoma. An intraoral examination found a painless swelling on the buccal gingival tissue in the left posterior maxilla. Panoramic radiographs and multidetector computed tomographic images revealed an ill-defined, non-corticated, mixed attenuating entity of osseous density located within the left posterior maxilla apical to the left maxillary molars. The entity exhibited a heterogeneous internal structure with a fine granular appearance, and the periphery showed a partial hypo-attenuating rim along the antero-medial aspect. Expansion of the left posterior maxilla accompanied with displacement of the left maxillary sinus floor was noted. External root resorption of the first and second molars was noted, as well as postero-superior displacement of the third molar. The histopathologic diagnosis of the biopsy was osteoblastoma. Complete excision of the tumor was performed.
An unusual presentation of osteoblastoma of the maxilla: A case report
Lim Joonbum,Hinchy Nicole,Odingo Nora,Colosi Dan,Mahdian Mina 대한영상치의학회 2021 Imaging Science in Dentistry Vol.51 No.4
This report presents a rare case of maxillary osteoblastoma in a 17-year-old female. The patient presented with dull pain and facial asymmetry inferior to the left zygoma. An intraoral examination found a painless swelling on the buccal gingival tissue in the left posterior maxilla. Panoramic radiographs and multidetector computed tomographic images revealed an ill-defined, non-corticated, mixed attenuating entity of osseous density located within the left posterior maxilla apical to the left maxillary molars. The entity exhibited a heterogeneous internal structure with a fine granular appearance, and the periphery showed a partial hypo-attenuating rim along the antero-medial aspect. Expansion of the left posterior maxilla accompanied with displacement of the left maxillary sinus floor was noted. External root resorption of the first and second molars was noted, as well as postero-superior displacement of the third molar. The histopathologic diagnosis of the biopsy was osteoblastoma. Complete excision of the tumor was performed.