재활로봇에 대한 작업치료사의 인식 조사

서수연,김시은 대한고령친화산업학회 2019 대한고령친화산업학회지 Vol.11 No.1

Objective : In the present study, the demand for rehabilitation robots is increasing, We will examine the recognition of rehabilitation robots. Method : From October 31 to November 9, 2018, 62 questionnaire surveys were conducted for occupational therapists in Busan and Kyungnam provinces, Respectively. A total of 100 questionnaires were distributed, and questionnaires collected via internet links and direct visits 62 parts. The collected data were analyzed using SPSS (Statistical Package for Social Science for Window) Technical statistical analysis was performed using Version 21.0. Result : I have heard of questions about whether you know or have heard of rehabilitation robots 41 persons (66.1%) responded to the questionnaire, and the rehabilitation robots that they knew were hand function training The highest rate of exercise rehabilitation was 53 persons (85.7%) and the need for rehabilitation robot 32 persons (51.6%) answered yes to the questionnaire, and patients were given appropriate and high quality intervention To provide "was the highest rate of 27 persons (43.9%). Conclusion : Recognition of rehabilitation robots by occupational therapists is low, but the need for rehabilitation robots It is necessary to provide facilities and rehabilitation robot program and education to provide rehabilitation robot service. In order to activate the rehabilitation robot systematically in the future. 목적 : 본 연구는 재활로봇에 대한 국내외의 수요가 높아지는 현시점에서 국내 작업치료사들의 재활로봇에 대한 인식도를 조사해보고자 한다. 연구방법 : 2018년 10월 31일부터 11월 9일까지 부산, 경남 지역 작업치료사 대상으로 설문조사를 실시하였 다. 배부된 설문지는 총 100부였으며, 인터넷 링크와 직접 방문으로 회수된 설문지는 62부였다. 수 집된 자료는 통계 프로그램인 SPSS(Statistical Package for Social Science for Window) Version 21.0을 사용하여 기술 통계분석을 실시하였다. 연구결과 : 재활로봇에 대해 알고 있거나 들어본 적이 있는지에 관한 문항에서 들어본 경험은 있다고 응답한 대상자가 41명(66.1%)으로 가장 많았으며, 알고 있는 재활로봇으로는 손 기능 훈련 등의 운동재활 분야가 53명(85.7%)로 가장 높았으며 재활로봇에 의한 치료 프로그램이 필요한지에 한 항목에서는 그렇다고 응답한 대상자가 32명(51.6%)이였고 필요한 이유에 대한 응답으로는 “환자들에게 적절하 고 질 높은 중재를 제공하기 위해” 라는 응답의 비율이 27명(43.9%)로 가장 높았다. 결론 : 작업치료사들의 재활로봇에 대한 인식도와 요구도가 높게 나와 지역별로 재활로봇과 관련된 시설과 재활로봇 프로그램 및 교육이 마련되어 재활로봇 서비스를 제공해야 할 필요가 있다는 것을 알 수 있다. 향후 체계적으로 재활로봇의 활성화를 위해서 지속적인 협회 차원의 보수교육 및 워크숍 등 의 교육 기회 제공 및 제정적인 지원이 마련되어야 할 것이다.

재활로봇에 대한 대학생들의 인식 조사: 작업치료학과 대상

이수미(Lee, Su-Mi) 대한고령친화산업학회 2020 대한고령친화산업학회지 Vol.12 No.1

목적: 본 연구는 작업치료학과 학생들의 재활 로봇에 대한 인식 내용을 실증 분석함으로써, 향후 작업치료용 재활로봇의 개발⋅보급 및 관련 연구에 도움이 되는 이론적, 실무적 기초 자료를 제공하고자 한다. 연구방법: 본 연구의 대상자는 부산 및 울산광역시의 작업치료학과 재학생 119명을 선정하였다. 설문지는 연구 대상자의 일반적 특성 9문항, 재활로봇에 대한 인식 내용 12문항으로 구성되었다. 설문지 배부 및 회수 기간은 2020년 4월 20일부터 4월 24일이었다. 연구결과: 작업치료학과 재학생들의 재활로봇에 대한 인식 내용은 ①재활로봇 인식(Q1), ②재활로봇의 기대효과(Q2~6), ③재활로봇과 작업치료와의 연관성(Q7~11), ④향후 재활로봇 교육을 받을 의향(Q12)의 4개 영역에서 모두 긍정적인 것으로 나타났고, 연령, 학년, 임상실습 경험 유무에 따라 4개 영역에서 모두 유의한 차이를 나타내는 것으로 분석되었다. 결론: 본 연구는 작업치료학과 재학생들의 재활로봇에 대한 긍정적인 인식 내용을 실증 분석하고 그 의미를 논의함으로써, 재활로봇의 보급화⋅상용화 및 작업치료학과 학생들의 전공 소양 심화에 모두 도움이 되는 이론적, 실무적, 교육적 기초 자료를 제공하고자 한다. Objective : The p u rpose of this study was to use a s a basic data for f urther research on the need for edu cation on future care robots and future care robots by identifying occupational therapy and students awareness of the robots. Methods : The study was conducted by 119 students in the department of occupational therapy in the cities of Busan and Ulsan. The questionnaire consisted of three questions about the characteristics of the subject, seven questions related to recognition of the fourth industry, and 12 questions related to recognition of the care robot. The questionnaire distribution and retrieval period was from April 20 to 24, 2020. Results : Occupational therapy students perceptions of rehabilitation robots(①Recognition about rehabilitation robots(Q1), ②Expected effects of rehabilitation robots(Q2~6), ③Association between rehabilitation robots and occupational therapy(Q7~11), ④Intention to receive education of rehabilitation robots(Q12)) were positive, and it was analyzed that all four areas showed significant differences according to age, grade, and clinical experience. Conclusion : This study analyzed occupational therapy students positive perceptions about rehabilitation robots and their meanings, thereby providing theoretical, practical, and educational foundations that help both the popularization and rehabilitation robots and the improvement of occupational therapy students majors.

뇌졸중환자를 위한 직교형 4개 손가락 재활로봇 기구설계

김현민(Hyeon-Min Kim),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.5

This paper describes the design of a rectangular-type four-finger rehabilitation robot for flexibility rehabilitation of stroke patients" fingers and other patient’s paralyzed fingers. The four-finger rehabilitation robot is composed of a body and each finger rehabilitation robot instrument. The four-finger rehabilitation robot could exercise four fingers (forefinger, middle finger ring finger and little finger) of patient for their rehabilitation. The four-finger rehabilitation robot instruments move according to the trace which spread out the patient’s fingers and then turn them inward for the fingers’ flexibility, while at the same time performing the force control with the reference forces for fingers’ safety, simultaneously. A control characteristic test of the developed rectangular-type four-finger rehabilitation robot was carried out, and the results confirmed that the robot could be used for the flexibility rehabilitation exercise for the fingers of normal person and patients.

재활로봇중개연구의 성과분석을 통한 추진전략 수립 방안 연구

장경배(Jang, Kyung-Bae) 대한고령친화산업학회 2018 대한고령친화산업학회지 Vol.10 No.1

재활로봇중개연구사업에 대해 종합적인 사업추진 현황 및 연구 성과를 객관적이고 체계적으로 조사및 분석하여 사업의 현황을 파악하고, 이를 통해 향후 사업 추진 전략을 수립하여 사업의 고도화를 이루고자 한다. 재활로봇중개연구에 대한 전반적인 연구과제 현황, 특허, 논문실적, 시제품 개발, 임상시험, 사용성 평가에 대한 현황을 객관적으로 분석을 실시하였다. 특히 해당 사업에 대해 사업 관리자 및 관계자 와의 그룹인터뷰(FGI-Focus Group Interview) 통해 부족한 부분을 수정 보완하였다. 2013년 연구개발을 통해 18건의 논문이 게재 되었고, 특허 3건, 재활보행운동장치 시제품 5건이 개발되었다. 2014년 하지외골격로봇 등 시제품 12건, 2015년 발목근육훈련기 등의 시제품 15건 등 총 32건에 제작되었다. 특히 임상시험 및 사용성 평가 진입실적 총 17건을 창출하여 보건의료제품⋅서 비스의 성공적 개발 가능성 및 보급, 상용화의 가능성이 높을 것으로 분석되었다. 향후 단기 실용화 제품 개발, 노인과 장애인 공용 사용 제품 개발, 건강보험공단 수가화 및 재활로봇 시범사업 등의 추가 전략의 도출 및 적용 시 더 빠른 재활로봇의 시장 활성화가 가능할 것으로 판단된다. 재활로봇중개연구는 2013년 본격적으로 사업이 시작되었으며. 미국, 유럽, 일본 등 선진국에 비해 짧지만 3년 동안 급속한 성장을 통해 재활로봇 중개연구 분야에 높은 기술력과 임상연구를 수행하고 있다. 하지만 국내에서 재활로봇 중개연구는 실용화와 사업화의 관점에서는 미흡하여 향후 상품 화를 중심으로 전략을 수립하여 사업을 추진할 필요가 있다 In this paper we investigated and analyzed about the status of comprehensive rehabilitation robot intervention research project and research results objectively and systematically to analyze the current situation of the project and establish the future business improvement strategy through this to achieve the advanced business. Method : We analyzed the present status of research projects, patents, thesis achievements, prototype development, clinical trials, and usability evaluations for rehabilitation robot intervention research objectively. In particular, the FGI-Focus Group Interview with business managers and stakeholders has complemented and supplemented the shortcomings of the project. Result : In 2013 8 research papers were published through research and development, 3 patents, and 5 prototypes of rehabilitation gait exercise devices were developed. In 2014,15 prototypes such as exoskeleton robots, and in 2015, 32 prototypes such as 15 ancillary muscle trainer were produced. Especially, it was analyzed that the possibility of successful development and dissemination of healthcare products and services and commercialization will be high by creating 17 clinical trials and usability evaluations. In the future, it will be possible to revitalize the market of rehabilitation robots by developing and applying additional strategies such as product development for short - term use, development of products for the elderly and the disabled, health insurance public companies insurance cost calculation, and finally the pilot project for rehabilitation robot. Conclusion : Rehabilitation Robot Intermediary Research started full fledged in 2013.Although it is shorter than advanced countries such as USA, Europe and Japan, it is experiencing rapid technological development by clinical research in the research field of rehabilitation robot for 3 years. However, research on rehabilitation robot intervention in Korea is insufficient from the viewpoint of commercialization, so it is necessary to establish a strategy based on commercialization in the future to carry out business.

손 재활을 위한 로봇 시스템 기술 동향

민지영,문효정,신화희,이용찬 한국재활복지공학회 2023 재활복지공학회논문지 Vol.17 No.4

본 논문은 손 재활 로봇에 대한 연구 동향과 발전 방향을 이해하기 위해 조사하고 요약하는 것을 목표로한다. 최근 손 재활의 수요가 증가함에 따라 손 재활 로봇에 대한 연구는 활발하게 수행되고 있다. 손 재활은 다른 부위에 비해 높은 자유도와 복잡성을 가지며, 이를 효과적으로 치료하기 위해 다양한 형태의 로봇과 손 재활 방법이 연구되고 있다. 다양한 형태의 손 재활 로봇 분석을 위해 착용 형태, 사용자 의도 파악방식, 구동 방식으로 분류하여 정리하였다. 또, 손 재활 방법의 이해를 위해 제어 알고리즘, 재활 동작, 사용자-로봇 상호작용 내용으로 분류하였다. 결과적으로 손 재활 로봇의 최고 수준과 각 시스템의 성능을 분석하고 생체 데이터의 딥러닝, 재활 시스템에 인공지능 적용 등 향후 연구 방향을 제시하고자 한다. This paper aims to investigate and summarize to understand the research trends and development directions for hand rehabilitation robots. Recently, as the demand for hand rehabilitation increases, research on hand rehabilitation robots is being actively conducted. Hand rehabilitation has a higher degree of freedom and complexity compared to other parts, and various types of robots and hand rehabilitation methods are being studied to treat this effectively. To analyze various types of hand rehabilitation robots, they were categorized and organized into wearing type, user intention identification method, and driving method. In addition, to understand the hand rehabilitation method, it was classified into control algorithm, rehabilitation movement, and user-robot interaction content. As a result, we want to analyze the state-of-the-art of hand rehabilitation robots and the performance of each system and suggest future research directions, such as deep learning of biometric data and application of artificial intelligence to rehabilitation systems.

Workspace Analysis of Upper Limb for a Planar Cable-Driven Parallel Robots toward Upper Limb Rehabilitation

XueJun Jin,Dae Ik Jun,Xuemei Jin,Sukho Park,Jong-Oh Park,Seong Young Ko 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot’s malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.

Challenges in neuro-machine interaction based active robotic rehabilitation of stroke patients

Song, Aiguo,Yang, Renhuan,Xu, Baoguo,Pan, Lizheng,Li, Huijun Techno-Press 2014 Advances in robotics research Vol.1 No.2

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.

발목굽힘 재활운동을 위한 발목재활로봇 개발

정재현(Jae-Hyeon Jung),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.1

This paper describes the design of an ankle rehabilitation robot for the force measurement of a severe stroke patient staying in a bed ward. The developed ankle rehabilitation robot was attached to a three-axis force/torque sensor that could detect force Fx, Fz, and torque Tz and measure the ankle rotation force (Fx) exerted on the ankle and the signal force Fz and torque Tz to be used as a safety device. The robot was designed and manufactured for bedridden stroke patients, and the robot program was manufactured to perform the flexibility rehabilitation exercise for ankle bending and to measure the ankle force to judge the degree of rehabilitation. According to the result of the characteristics test of the developed rehabilitation robot, it was safely operated while the ankle-bending flexibility rehabilitation exercise and the emergency situation were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

Combined Kinematic Analysis of a Hybrid 7-DOF Rehabilitation Robot

Hyun Soo Woo,Ohwon Kwon 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

It is well known that stroke is the leading cause of long-term disability and the number of stroke patients has been increasing due to the ageing of the population worldwide. Over the past decade, the effort to deliver effective rehabilitation robots especially for stroke patients has also been growing steadily with aims to provide timely and effective recovery, thus to reduce overall healthcare service burden. The trend of technical development has been evolving from the passive or one-way assistance regardless of patients’ intention or acute physical status toward the interactive therapy taking into account force/torque feedback and movement intention of the patients along with the therapy. Currently, few systems in the market, however, have considered the relative coordinate change of the patients’ upper limb, especially the center of humerus head into robot therapy. Here, we have developed a 7-DOF exoskeleton robot system for stroke rehabilitation of the upper extremity. The robot has three motors for the shoulder rotation and one for the elbow actuation. A key differentiating feature of this robot is the additional 3-DOF full shoulder motion control designed to build more ergonomic system, which provides a more user-friendly therapy by making the patient posture more natural. As the first step for the robotic control, this paper describes the combined kinematic analysis of the 7-DOF rehabilitation robot.

사용자 안전요소를 고려한 상지 재활치료용 2축 델타로봇 개발

백승환,이준식 한국산업융합학회 2023 한국산업융합학회 논문집 Vol.26 No.1

In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.