로봇 매개 인지 중재 프로그램이 치매 환자의 인지 및 정서 기능에 미치는 영향에 대한 후향적 분석

이지현,김종우,홍명훈,강원섭,오재원 대한생물정신의학회 2023 생물정신의학 Vol.30 No.2

Objectives Cognitive intervention treatment is known to be effective among dementia patients. To establish an effective nonpharmacological treatment for dementia patients, it is necessary to study how it affects not only cognitive function but also emotional function as well as daily life abilities. This study examined the effects of a cognitive intervention program using the robot PIO. Methods The robot-mediated cognitive intervention using “laughter-PIO” was applied to 36 participants rated Clinical Dementia Rating 0.5 or 1. The cognitive function, emotional state, and daily life abilities were evaluated before and after the program. Results After the cognitive intervention, the Geriatric Depression Scale-Korean score improved from 11.6 ± 6.3 to 9.0 ± 6.0 (p = 0.03). The subtests of the Korean version of the Consortium to Establish a Registry for Alzheimer’s Disease Assessment Packet, J2 Boston Name test, J3 Mini-Mental State Exam, and J7 Word Recognition test, showed significant improvements (p < 0.05). The Digit Span Test result increased from 13.1 ± 5.4 to 15.2 ± 6.1 after the program (p < 0.05). Conclusions The cognitive intervention program using the robot “PIO” improved cognitive function and the emotional state of dementia patients, and daily life abilities. Objectives Cognitive intervention treatment is known to be effective among dementia patients. To establish an effective nonpharmacological treatment for dementia patients, it is necessary to study how it affects not only cognitive function but also emotional function as well as daily life abilities. This study examined the effects of a cognitive intervention program using the robot PIO. Methods The robot-mediated cognitive intervention using “laughter-PIO” was applied to 36 participants rated Clinical Dementia Rating 0.5 or 1. The cognitive function, emotional state, and daily life abilities were evaluated before and after the program. Results After the cognitive intervention, the Geriatric Depression Scale-Korean score improved from 11.6 ± 6.3 to 9.0 ± 6.0 (p = 0.03). The subtests of the Korean version of the Consortium to Establish a Registry for Alzheimer’s Disease Assessment Packet, J2 Boston Name test, J3 Mini-Mental State Exam, and J7 Word Recognition test, showed significant improvements (p < 0.05). The Digit Span Test result increased from 13.1 ± 5.4 to 15.2 ± 6.1 after the program (p < 0.05). Conclusions The cognitive intervention program using the robot “PIO” improved cognitive function and the emotional state of dementia patients, and daily life abilities.

A Planar Compliant Parallel Robotic Mechanism for Robotic Needle Intervention

Youngjin Moon,Jaesoon Choi 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

This paper presents a basic concept of a robot mechanism for a robot used in needle intervention procedure. The robot mechanism is devised to give variable remote center of motion to the intervention robot. This function is expected to be a good solution for two cases: correction of the needle axis and compensation of needle position due to patients’ motion. The mechanism is designed with some requirements such as mobility and workspace. A kinematic analysis determines parameters of the mechanism so that the mechanism’s workspace includes at least a required working area. A three dimensional model is created from the resultant design.

상호작용 로봇을 이용한자폐 범주성 장애 아동의 중재 치료에 관한 예비연구

윤상석,김동환,최종석,박성기,봉귀영,유희정 한국자폐학회 2015 자폐성 장애연구 Vol.15 No.1

The purpose of this paper is to propose and examine the feasibility of the robot-assisted intervention system for facilitating the eye contact of the children with autism spectrum disorder (ASD). The treatment system was based on the discrete trial teaching (DTT) protocol with three task modes of treatment process; reward, encouragement, and pause. In child-robot interaction architecture, the robot was designed to offer therapeutic training elements of mutual greeting and interplay game, and evaluates the level of children’s reactivity by recognition modules for frontal face and touch features. We compared the reactivity of the children depending on the diagnostic groups (3 subjects with ASD and 3 subjects with non-ASD) and on the type of robotic stimuli (K, D, and KD) type. Also, we surveyed the parents’ subject satisfaction and children’s friendliness to the robotic stimuli using the questionnaire developed by research group. As the results, the children’s response showed difference depending on the diagnostic group and type of stimuli in terms of response time and gaze ratio, though statistical analyses were unavailable due to small sample size. The treatment process and robotic stimuli showed high level of user satisfaction. The results suggest that the reinforcement and facilitation using robotic stimuli are generally feasible to incorporate into the standard treatment process 본 연구의 목적은 상호작용 로봇을 이용하여 ASD를 가진 아동의 눈맞춤을 용이하게 향상시키기 위한 행동적 치료 중재 시스템을 제안하고, 예비실험을 통해 치료 시스템의 적용 가능성을 탐색하는 것이다. 이를 위해 아동-로봇 상호작용에서 비연속 개별시도교수(Discrete Trial Teaching, 이하 DTT) 이론을 바탕으로 자폐범주성장애(autism spectrum disorder, 이하 ASD)를 가진 아동에 대한 로봇보조의 행동적 중재 치료 시스템을 고안하였다. 치료 프로토콜 적용 후 로봇 자극제의 타입(K, D, 및 KD)과 그룹 구성(3명의 non-ASD 아동과 3명의 ASD 아동) 측면에서의 정량적인 비교분석 및 훈련 이후 설문 평가를 시행한 결과 중재 치료 시스템에서 로봇이 자극제와 강화를 제공하는 보조 치료자로서 ASD아동의 눈맞춤 향상에 도움을 줄 수 있을 가능성을 검증하였다.

Effects of Robot and Computer-based Intervention on Learning Action Word Symbols of AAC for Children with Autism Spectrum Disorder

Eun Jung Choi(최은정),Young Tae Kim(김영태),Seok Jeong Yeon(연석정),John Kim,Ki-Hyung Hong(홍기형) 한국언어청각임상학회 2016 Communication Sciences and Disorders Vol.21 No.4

배경 및 목적: 본 연구에서는 AAC 동작어 상징 학습에 대한 교육용 로봇과 컴퓨터의 중재 효과를 비교해보고자 하였다. 방법: 연구대상은 자폐범주성장애 아동 3명이며, 교대중재설계를 사용하여 AAC 동작어 상징 학습에 미치는 교육용 로봇과 컴퓨터 중재의 효과를 비교하였다. 연구에서 사용된 동작어 상징은 총 20개로 각 10개씩 두 세트로 나뉘어 기초선, 중재 그리고 일반화 단계에서 교육용 로봇과 컴퓨터를 통해 노출되었다. 결과: 연구결과 교육용 로봇 중재에서는 대상 아동 3명 모두, 컴퓨터 중재에서는 대상 아동 3명 중 2명에게서 동작어 상징 이해도 향상이 나타났다. 일반화 단계에서는 모든 대상 아동이 두 가지 중재에서 동작어 상징 이해도 향상을 보였다. 대상 아동들이 보인 향상 정도를 비교하였을 때는 교육용 로봇 중재에서 컴퓨터 중재보다 전반적으로 더 높은 향상이 나타난 것을 알 수 있었다. 논의 및 결론: 교육용 로봇과 컴퓨터 중재 모두가 동작어 상징 학습에 긍정적인 효과를 미쳤다. 그리고 두 가지 중재 효과를 비교했을 때는 교육용 로봇 중재가 컴퓨터 중재보다 더 높은 수준의 향상을 이끌어내는 것으로 나타났다. Objectives: The purpose of this study was to investigate the effects of robot and computer-based intervention on learning action word symbols of augmentative and alternative communication (AAC) for three preschool children with autism spectrum disorder. Methods: This study used an adapted alternating treatment design to compare the effects of robots and computers on learning action word symbols of AAC. Twenty symbols of action words in the ‘Ewha-AAC symbols set (Park et al., 2014; Yeon et al., 2016)’ were selected and divided into two groups: Set A and Set B. Symbols of Set A and Set B were exposed through a robot and computer during three phases, which were the baseline, experimental, and generalization phases. Results: All three subjects who were trained using the educational robot showed improvements in comprehending action word symbols. However, only two out of the three subjects showed improvements in learning with the computer. In the case of generalization phase, all three subjects who were trained using the educational robot and the computer showed improvements. Comparing the improvement levels between the two interventions in both phases, the effectiveness of the educational robot was generally higher than that of the computer. Conclusion: Both methods had positive effects on learning action word symbols of AAC, while the robot-based intervention showed higher improvement levels than the computer-based intervention.

Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions

김기영,Hyunsoo Woo,Jang Ho Cho,Jungwook Suh 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1

We present a compact and lightweight two degrees-of-freedom (DOF) needle end-effector to be applied to a teleoperated needle interventional robotic system. The suggested needle end-effector is computerized tomography (CT)- compatible and easy to sterilize. Because the proposed needle end-effector can be attached to a robotic manipulator, the needle can translate into and rotate in the human body. In addition, a 1-axis load cell is attached to the needle end-effector to measure the longitudinal force applied to the needle. With this force measurement, force-feedback ability has been implemented in the entire master-slave robotic system. Basic performance tests of repeatability and maximum insertion force were performed. Several force-feedback experiments to determine free space response and contact response, as well as a discrimination test, were conducted. Through this verification process, the suggested needle end-effector was found to have potential for application in real environments that require robotic CT-guided needle interventions.

로봇을 활용한 초등학생용 사회성 기술 훈련 ‘사또(사이좋은 또래)’ 콘텐츠 개발

임보령,백예은,박지연 한국콘텐츠학회 2022 한국콘텐츠학회논문지 Vol.22 No.8

The purpose of this study is to plan and develop contents for training social skills using robots for elementary school students. Seven functions (guiding activity, providing reinforcement, guiding students behavior, team setting, presenting team order, timer setting, and checking scores) were developed by analyzing functions that robots can take charge of in the training contents. A total of 8 sessions of social skills training contents were developed by selecting social skills required for academic achievement and social interaction of elementary school students. The lesson consisted of providing positive and negative examples, modeling, role-playing, providing feedback on performance, and encouraging generalization stages using effective strategies for acquiring social skills. After developing social skills training contents using robots for elementary school students, so-called Friendly Friends (FF), a satisfaction survey was conducted on the field application of contents and participating students and teachers to examine the acceptance pattern. As a result, it was found that the participating students and teachers were satisfied with the contents. Finally, the meaning and the expected effects of the 'FF (Friendly Friends)' contents were discussed, and also, the matters to be considered when developing social skills training contents using robots in the future were suggested. 본 연구에서는 로봇을 활용한 초등학생용 사회성 기술 훈련 콘텐츠를 기획하고 개발하였다. 훈련 콘텐츠 내에 로봇이 담당할 수 있는 기능을 분석하여 7가지 기능(활동 안내, 강화 제공, 행동지도, 팀 설정, 팀 순서 안내, 타이머 설정, 점수 확인)을 선정한 후, 초등학교 학령기 학생들의 학업성취 및 사회적 상호작용에 요구되는 사회성 기술을 바탕으로 총 8회기의 사회성 기술 훈련 콘텐츠를 개발하였다. 콘텐츠 현장적용을 위한 수업은 사회성 기술 훈련을 위한 증거기반 전략을 활용하여 긍정적 예시 및 부정적 예시 제공, 모델링, 역할극, 수행 피드백, 일반화 단계로 구성하였다. 초등학생을 위한 로봇활용 사회성 기술 훈련 콘텐츠, 즉 ‘사또(사이좋은 또래)’ 콘텐츠를 개발한 후, 수용 양상을 살펴보기 위해 콘텐츠 현장적용 및 참여학생과 현장교사를 대상으로 만족도 조사를 실시한 결과, 참여학생과 현장교사의 만족도가 높은 것으로 나타났다. 마지막으로 ‘사또’ 콘텐츠 개발의 의미와 기대효과에 대해 논의하고, 향후 로봇활용 사회성 기술 훈련 콘텐츠를 개발할 때 고려해야 할 사항을 제언하였다.

자폐 범주성 장애 아동의 사회적 기능향상을 용이하게 하는 상호작용로봇

윤상석(Sang-Seok Yun),박성기(Sung-Kee Park),최종석(JongSuk Choi) 한국HCI학회 2014 한국HCI학회 학술대회 Vol.2014 No.2

본 연구에서는 자폐 범주성 장애 아동의 사회적 기능 향상을 용이하게 하기 위한 행동적 중재 시스템을 가지는 상호작용 로봇을 제안한다. 행동적 중재 시스템은 로봇이 사회성 훈련 요소를 가지는 전제 자극을 제공하고 아이의 행동반응에 따라 로봇의 대응 방향을 결정하는 치료 프로토콜로써 보상, 독려, 그리고 중지모드를 통하여 자폐 아동에 대한 사회적 기능훈련을 강화하도록 구성되었다. 또한, 로봇은 동작학적 행동과 표시 가능한 훈련 컨텐츠 조합을 통하여 적절할 로봇 자극 원을 구성하며, 정면 얼굴 및 터치 인식 모듈을 통해 아동의 행동반응성의 정도를 평가하게 된다. 구성된 로봇 시스템의 검증 방법으로, 본 연구에서는 훈련 시나리오에서의 인식 데이터 분석 및 분류 별 비교 평가, 그리고 설문조사 결과로부터 상호작용 로봇이 자폐아동의 사회적 기능 발달에 상당량의 긍정적인 영향을 주는 것을 확인하였다. In this paper, we propose a robot-assisted behavioral intervention system to easily improve social skills of children with autism spectrum disorders. Interactive robots effectively offer social skills training for children with autism through the therapeutic protocol with encouragement, reward, and pause mode, which is determined by behavioral responses of children. In addition, the presented robot generates appropriate training tasks through the combination of kinesic act and displayable content, and it evaluates the level of children’s reactivity by the recognition module of frontal face and touch. From the data analysis of experiments and the survey evaluation, we verified that the system has some positive effect on social development of children with autism.

로봇 중재 시술을 위한 하이퍼-리던던트 로봇의 강성 및 형상 변형에 관한 연구

김기영(Kiyoung Kim),우현수(Hyunsoo Woo),조장호(Jang Ho Cho),신민기(Minki Shin),서정욱(Jungwook Suh) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.11

Continuum manipulators or hyper-redundant manipulators are commonly used for steerable endoscopes and robotic catheters. Hyper-redundant manipulators are composed of many rigid links and joints, which can be actuated by embedded motors or by transmission components such as tendons and spring sheaths. This article describes a mathematical model of a hyper-redundant manipulator with rolling contact joints. The position and orientation of each discrete link of the hyper-redundant manipulator is calculated using a transformation matrix, and the moment equations of the joints are solved by numerical analysis. The shape deformation of the manipulator under a lateral force is calculated and the theoretical stiffness on the lateral force is determined. We compare the stiffness obtained by experiments with theoretical values. The lateral deformation has an error of up to 7.1 mm, and the lateral stiffness is within an error range of 9%. Stiffness analysis of the hyper-redundant manipulator is expected to predict the motion of the manipulator during robotic interventions.

군집지능로봇시스템의 원격제어 및 모니터링 기술

장민수(Minsu Jang),전서현(Seo-Hyun Jeon),장광준(Kwang-Jun Jang),이대하(Dae-Ha Lee),조영조(Youngjo Cho) 한국HCI학회 2013 한국HCI학회 학술대회 Vol.2013 No.1

본 논문에서는 다수의 로봇으로 구성된 군집지능로봇시스템의 임무 수행 성능과 성공률을 높이기 위한 목적으로 효과적인 인간 개입을 가능하게 하는 제어 아키텍처와 원격 제어 및 모니터링 센터를 설명하였다. 제안된 시스템은 개별 로봇 조작 뿐 아니라 임무 및 작업 할당에 인간의 개입을 가능하게 하는 계층적 제어 구조와 임무 수행 상황을 효과적으로 모니터링하고 상황에 따라 빠르게 선택적으로 인간 개입을 처리할 수 있는 이동 단말용 관제 센터를 포함한다. 10대의 로봇으로 구성된 로봇팀을 이용하여 영역 감시 및 침입자 포위 임무 시험 수행한 결과 수동 조작의 어려움을 최소화하면서 임무를 성공적으로 수행할 수 있었다. We describe a layered control architecture and a remote operation/monitoring system that allow effective human intervention in managing collective intelligence robot systems that consist of several robots. The suggested system allows human intervention not only in operating individual robots but also in higher control such as task reallocation and coalition formation, which promotes the success rate of mission operation. The remote operation/monitoring system is implemented on a tablet-typed mobile device and provides various user interfaces for effective robot control and mission status monitoring. We applied the system onto a surveillance mission and successfully operated 10 robots concurrently while accomplishing the goals of the mission.

A Study on HRD Interventions for Human-Robot Collaboration

허세진(Se Jin Heo),안영식(Young Sik Ahn),박수홍(Su Hong Park) 중앙대학교 한국인적자원개발전략연구소 2016 역량개발학습연구 Vol.11 No.1

본 연구의 목적은 인간과 로봇의 효과적인 협업을 위한 HRD 개입방안을 탐색하는 것이다. 수술용 로봇과 일하는 간호사들을 위한 조직 차원의 지원이 무엇인가를 밝히기 위해 델파이 연구방법이 사용되었다. 두 번의 연속적인 조사를 통해, 연구 참여자들은 수술용 로봇과 일하는 간호사들의 핵심적인 스트레스 요인과 직무만족 요인이 무엇인지에 대한 의견을 피력했다. 최종적으로 세 번째 조사에서 수집된 조직 차원의 지원에 대한 질적 응답을 분석하여 HRD 개입방안을 도출하였다. 본 연구에 참여한 간호사들은 수술용 로봇과의 협업에서 느끼는 스트레스와 만족의 원인이 새로운 기술에 의한 문제라기보다는 조직의 만성적인 폐해와 직접적으로 연결되어 있다고 보고 있었다. 따라서 신기술과 연관되지 않은 기존의 HRD 개입방안이 로봇과 인간의 협업환경에서 여전히 실효성이 있다는 것이 본 연구의 결론이다. 즉 로봇과 인간의 효과적인 협업을 위해 기술 자체에 초점을 둔 개입방안보다는 조직개발의 기본에 충실한 HRD 개입방안을 실천하는 것이 선결조건이 되어야한다. The purpose of this study is to explore appropriate HRD interventions to help employees effectively work with robots. The Delphi method was employed to identify organizational supports for nurses working with surgical robots. Throughout two consecutive rounds, participants expressed their opinions and built up consensus about the critical stressors and the key causes of job satisfaction of nurses collaborating with surgical robots. Finally, at the third round, desirable HRD interventions for nurses were identified by analyzing qualitative responses of nurses about necessary organizational supports. The causes of work stress and job satisfaction were not closely related to emerging technological issues but to the chronic diseases of their organizations. In conclusion, most common HRD interventions to become a better organization are still working for nurses collaborating with surgical robots even though the interventions are not directly related to emerging technology. Therefore, it is recommended that focusing on basic HRD interventions be a prerequisite for effective human-robot collaboration rather than emphasizing process interventions.