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NREH: 다양한 운동과 데이터 수집이 가능한 가정용 상지재활로봇
손준용,이성훈,송원경 한국로봇학회 2023 로봇학회 논문지 Vol.18 No.4
In this paper, we introduce an upper extremity rehabilitation robot, NREH (NRC End- effector based Rehabilitation arm at Home). Through NREH, stroke survivors could continuously exercise their upper extremities at home. NREH allows a user to hold the handle of the end-effector of the robot arm. NREH is a end-effector-based robot that moves the arm on a two-dimensional plane, but the tilt angle can be adjusted to mimic a movement similar to that in a three-dimensional space. Depending on the tilting angle, it is possible to perform customized exercises that can adjust the difficulty for each user. The user can sit down facing the robot and perform exercises such as arm reaching. When the user sits 90 degrees sideways, the user can also exercise their arms on a plane parallel to the sagittal plane. NREH was designed to be as simple as possible considering its use at home. By applying error augmentation, the exercise effect can be increased, and assistance force or resistance force can be applied as needed. Using an encoder on two actuators and a force/torque sensor on the end-effector, NREH can continuously collect and analyze the user’s movement data.
손준용,정찬희,황인태,신준화 (사)한국방사선산업학회 2020 방사선산업학회지 Vol.14 No.4
The novel crosslinked anion exchange membrane with a high ion exchange capacityand stability was fabricated through a room temperature and solid-state radiation processing. Theanion-exchange membrane was prepared by solution casting method at the different compositionsof poly(diallyldimethylammonium chloride) and PVA substituted with methacryloyl group,and subsequently irradiated by electron beam to form 3D-network structure. From the variousanalytical results, the 3D-network crosslinked anion-exchange membrane exhibited not only ahigh ion exchange capacity (>1.7 meq·g-1) but a superior water stability (water uptake ≤ 30%)through a room temperature and quick radiation crosslinking process. Also, the prepared anionexchange membrane had better thermal stability compared to non crosslinked anion exchangemembrane (control).