장애인용 핸드컨트롤을 이용한 가속 및 제동 페달을 동작할 때의 상지 근육 EMG 분석 및 운전 성능 평가

송정헌,김용철,Song, Jeongheon,Kim, Yongchul 대한의용생체공학회 2017 의공학회지 Vol.38 No.2

The purpose of this study was to investigate the EMG characteristics of driver's upper extremity and driving performance for manipulating brake and accelerator pedal by using left and right hand control devices during simulated driving. The people with disabilities in the lower limb have problems in operation of the motor vehicle because of functional loss for manipulating brake and accelerator pedal. Therefore, if hand control device is used for adaptive driving controls in people with lower limb impairments, the disabled people can improve their quality of life by driving a motor vehicle. Six subjects were participated in this study to evaluate driving performance and muscle activities for operating brake and accelerator pedal by using two different hand controls (steering column mounted hand control and floor mounted hand control) in driving simulator. We measured EMG activities of six muscles (posterior deltoid, middle deltoid, triceps, biceps, flexor carpi radialis, and extensor carpi radialis) during pushing and pulling movement with different hand controls for acceleration and braking. STISim Drive 3 software was used for the performance test of different hand control devices in straight lane course for time to reach target speed and brake reaction time. While pulling the hand control lever toward the driver, normalized EMG activities of middle deltoid, triceps and flexor carpi radialis in subjects with disabilities were significantly increased (p < 0.05) compared to the normal subjects. It was also found that muscle responses of posterior deltoid were significantly increased (p < 0.05) when using the right hand control than left hand control. While pushing the hand control lever forward away from the driver, normalized EMG activities of posterior deltoid, middle deltoid and extensor carpi radialis in subjects with disability were significantly increased (p < 0.05) compared to the normal subjects. It was shown that muscle responses of middle deltoid, biceps and extensor carpi radialis were significantly increased when using the right hand control than left hand control. Brake reaction time and time to reach target speed in subjects with disability was increased by 12% and 11.3% on average compared to normal subjects. The subjects with physical disabilities showed a tendency to relatively slow acceleration at the straight lane course.

Research on Direct Model Reference-Based Adaptive Controller to Hand Tremors Reduction

보안공학연구지원센터(IJHIT) 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.3

A tremor is an involuntary, somewhat rhythmic, muscle contraction and relaxation involving to and from movements (oscillations or switching) of one or more body parts. It is the most common of all involuntary movements and can affect the hands, arms, eyes, face, head, vocal folds, trunk, and legs. Most tremors occur in the hands. In some people, tremor is a symptom of another neurological disorder. This research focuses on the design and analysis of a model reference-based controller for highly nonlinear dynamic multi degrees of freedom, in presence of hand tremors. In order to provide a high performance nonlinear methodology, the inverse dynamical controller is selected. The inverse dynamic controller is the type of model reference controller. It is nonlinear and stable controller. To reduce the challenges of this controller hybrid fuzzy controller is used. However, this method has many advantages, but it has challenged in presence of uncertainties. To solve this challenge model reference-based direct adaptive methodology is used and applied to hybrid inverse dynamic fuzzy controller.

접이형 구조의 메카트로닉 방식을 이용한 전동의수에 관한 연구

김영서,박승환,홍승홍 한국장애인재활협회 2004 재활복지 Vol.8 No.1

현재 절단 장애인에 착용되는 의수는 기능에 따라 크게 미용의수, 신체동력의 수, 전동의 수의 3가지의 의수가 있다. 기존 의수의 문제점은 재활공학 기술분야에서 널리 언급되고 있다. 의수의 기술적 목적은 인간과 동일한 의수를 제작하는 것이며, 미용성과 무소음, 크기와 중량의 감소가 주요 조건이 된다. 본 연구에서 작업환경에서 지나치게 무거우며, 의수의 접이 동작에 어려움이 있는 기존 사용화된 의수의 일반적인 문제를 고려하여, 경량화와 접는 구조를 갖는 전동의수를 개발하기 위한 설계 및 제어방법을 기술하였다. 종래 의수의 이러한 결점을 해결하기 위해 기어부 대신에 벨트 구동방식을 이용하였고 의수의 손가락을 접을 수 잇는 메커니즘을 사용하는 새로운 방법을 제안하였다. 개발된 전동의수를 제어하기 위해 2개의 스위치 입력과 1개 모터 제어포트, 원칩 프로세서로 구성된 제어회로를 사용하여 의수의 열림과 닫힘의 동작 기능을 수행하였다. 개발된 의수에 대하여 펄스폭 변도(PWM : pulse width modulation)를 이용한 전자 제어부의 실험을 수행한 결과로서, 의수의 중량과 소음의 감소효과를 얻을 수 있었으며, 또한 의수의 접이 동작의 유효성과 함께 휴대면에서 편의성이 증대되었음을 확인하였다. At present, there are almost three ways to restore the functionality of an amputated person : cosmetics prostheses, body-powered prostheses and motion controlled prostheses. the problem of developing prosthetic hand has been widely addressed in the field of rehabilitation technologies. The main goal is to manufacture human likely hands, whose main requirements are cosmetics, noiselessness, and low weight and size. In consideration with an common problems of the existing commercialized prosthetic hand that had too heavy weight at working environment and many difficulties in folding operation, we described a design and control method for an development of the motion controlled hand with low weight and folding structure. In this paper a novel methods using the belt driving assembly instead of the geared parts and the mechanism to be able to fold finger parts of prosthetic hand is proposed to overcome this defects of conventional prosthetic hand. In order to control the devised hand, the function of open and close operation for the developed hand was implemented by using the control circuits consisted of small one-chip microprocessor and two switching input and one control port for motor As a result of implementation of the experiments of an electronic control part by using the PWM(pulse width modulation) for the developed hand, we were able to attain the effective reduction of its. weight and noise and also, we confirmed that the proposed prosthetic hand is able to give an increased convenience in carrying it along with an effectiveness of folding operation.

Realization of Human Interactive Control for Bio-mimetic Ornamental Aquarium Robotic

Byeong Jun Kim,Kyoo Jae Shin 대한전자공학회 2018 IEIE Transactions on Smart Processing & Computing Vol.7 No.5

The proposed study is the continuation of the previous study that aims to control the robotic fish which had researched on bio-mimetic ornamental aquarium robotic. Recently, our research held on human interactive control based on hand gesture recognition. From the real time video, users are able to control the motion of the robotic fish by using two hands where the left hand deciding which fish will be controlled and the right hand deciding which motion of the robotic fish will be controlled. In the other case, user utilized one hand, which decides to select the tracking control algorithms such as color mark, stop zone and lead-lag tracking control algorithms. Hand gesture recognition consists of hand segmentation, and gesture recognition from the hand features. Our result shows that an interactive human control, which is in this study, is hand gesture, successfully control the motion of the robotic fish in an interactive manner.

모션인식을 이용한 수부재활이 수부손상환자의 손기능에 미치는 영향

차윤준(Yun-Jun Cha),노동희(Dong-Hee Noh),감경윤(Kyung-Yoon Kam) 한국산학기술학회 2021 한국산학기술학회논문지 Vol.22 No.11

본 연구는 모션인식을 이용한 가상현실 과제가 수부손상 환자의 수부 기능에 미치는 영향을 조사하였다. 본 연구는 비동등성 대조군 전후설계로 18년 6월 ~ 19년 1월 까지 창원시 C병원 수부손상 환자 24명을 대상으로 손상 유형에 따라 Leap-Motion을 이용한 시각적 피드백 가상현실 과제그룹(VR그룹), 시각적 피드백이 없는 동영상 모방그룹(VO그룹) 그리고 대조그룹(CTL)으로 배분하였다. VR그룹은 가상현실 과제 15분과 수부 치료 15분을, VO그룹은 동영상 모방훈련 15분과 수부 치료 15분을, CTL그룹은 수부 치료 30분을 1일 1회 30분씩, 주 5회, 4주 동안 적용하였다. 평가는 Jebsen-Taylor hand function test(JTT), 장악력 및 파악력, 팔, 어깨, 손 장애검사(Disability of the Arm, Shoulder and Hand, DASH), 시각적 상사 척도(visual analogue scale; VAS)를 사용하여 중재 전, 후 평가를 실시하였다. 그룹 내 전, 후 비교 시 VR그룹은 쓰기, 장기 말 옮기기, 크고 가벼운 물건 옮기기를 제외한 10항목에서 유의한 향상을(p<0.05), 사후평가 값을 이용한 그룹 간 비교에서 장기 말 쌓기와 가벼운 물건 옮기기에서 유의한 차이가 있었다(p<0.017). 본 연구 결과 기존의 수부재활 뿐만 아니라 시각적 피드백을 이용한 가상현실 과제가 손상된 손 기능향상에 긍정적인 영향을 주는 새로운 중재가 될 수 있음을 보여준다. This study investigated the impacts of virtual reality tasks using motion recognition on hand functions in patients with hand injury. In a non-equivalent control group design, a total of 24 patients with hand injuries visiting C hospital in Changwon city, Korea, from June 2018 to January 2019, were allocated to three groups according to the types of injuries. These groups included VR (virtual reality task with visual feedback using Leap-Motion), VO (video observation without visual feedback) and control groups. The VR and VO groups underwent virtual reality tasks and hand therapy, and video observation and hand therapy, respectively, each for 15 minutes, and the control group underwent hand therapy for 30 minutes, all once a day, five times a week, for four weeks. Pre- and post-intervention evaluations were conducted by employing Jebsen-Taylor hand function test (JTT), grip strength, pinch strength, Disability of the Arm, Shoulder and Hand (DASH) and visual analogue scale (VAS). In intra-group comparisons, VR Group showed significant improvements in ten items (p<0.05), except writing, checkers and light objects. In inter-group comparisons using post-intervention values, significant differences were shown in checkers and light objects (p<0.017). The findings suggest that virtual reality tasks using visual feedback and hand rehabilitation can be new interventions with positive impacts on improved functions of the injured hands.

A Study on Flexible Control and Design of Robot Hand Fingers with Eight Axes for Smart Factory

Hyun-Seok Sim,Ho-Young Bae,Du-Beum Kim,Sung-Hyun Han 한국산업융합학회 2018 한국산업융합학회 논문집 Vol.21 No.4

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

간호대학생의 중동 호흡기 증후군 예방을 위한 손 씻기 수행 빈도에 영향을 미치는 요인

임소희(Lim, So-Hee) 한국산학기술학회 2016 한국산학기술학회논문지 Vol.17 No.2

최근 중동 호흡기 증후군의 발현으로 손 씻기가 강조되고 있는 실정이다. 본 연구의 목적은 중동호흡기 증후군의 예방을 위하여 손 씻기의 빈도에 영향을 미치는 요인을 파악하기 위하여 기질불안, 건강통제위, 건강증진행위의 관계를 분석 하였다. 314명의 간호 대학생들에게 중동 호흡기 증후군을 예방하는 방법, 손 씻는 횟수, 기질불안, 건강통제위, 건강증진행 위에 대하여 설문조사하였고, 수집된 자료는 Pearson correlation, 다중회귀분석으로 분석하였다. 손 씻기 수행 빈도에 영향을 미치는 요인으로는 손 씻기 중요도 이였으며, 손 씻기 중요도에 영향을 미치는 요인은 내적통제위로 나타났다. 또한, 대부분 의 간호 대학생이 손 씻기가 중동 호흡기 증후군의 가장 중요한 예방법으로 인지하였다. 이에 손 씻기의 중요성과 내적 통제 위를 강화한 건강교육을 진행해야 할 것이다. Recently, hand washing has been emphasized as Middle East Respiratory Syndrome Coronavirus (MERS) threatened public health. This study aimed to prevent MERS by hand washing frequency and analyzed the relationship between hand washing behavior and trait anxiety, locus of control and health promotion behavior. In this study, 314 nursing students participated in a survey where they could indicate what they did and the frequency of hand washing for preventing MERS. They also responded to questions related to the trait anxiety, locus of control, and health promotion behavior. The data were analyzed using descriptive statistics, Pearson correlation, and multiple regression. The frequency of hand washing was highest among the measures that the participants used and it was significantly related to the participants who reported high scores for the importance of hand washing. In addition, the importance of hand washing was impacted by the internal locus of control. Most nursing students who participated the survey acknowledged that hand washing was the most important method for preventing MERS. Therefore, it is important to educate people on the importance of hand washing and pay attention to personal characteristics, such as internal locus of control to promote hand-washing.

신규 간호사의 학부 감염 관리 교육 경험과 교육 만족도에 따른 손위생 의도 및 손위생 수행도의 차이

신나연,이승신,박민정,박영미,김성경,남가희 한국간호시뮬레이션학회 2021 한국간호시뮬레이션학회지 Vol.9 No.1

Purpose: This study aims to identify the degree of intention to hand hygiene and hand hygiene behavior in new nurses based on education experience on infection control. Method: The participants comprised 108 new nurses working in a general hospital in S city, Korea. Data were collected from September to December, 2020. Data were analyzed using descriptive statistics, independent t-test, analysis of variance (ANOVA), and Pearson correlation with SPSS 26.0 program. Results: There were statistically significant differences in intention to hand hygiene (F=3.39, p=.021) and hand hygiene behavior (F=3.33, p=.022) depending on education experience related to infection control during undergraduate courses. Hand hygiene intention (F=4.41, p=.008) and hand hygiene behavior (F=4.13, p=.008) showed statistically significant differences depending on educational satisfaction with infection control during undergraduate courses. There were significant positive correlations between intention to hand hygiene and hand hygiene behavior (r=.21, p=.026). Conclusion: This suggests that education in infection control can reinforce intention to hand hygiene and hand hygiene behavior in new nurses.

손 모양 인식을 이용한 모바일 로봇제어

김영래(Youngrae Kim),김은이(Eun Yi Kim),장재식(Jae Sik Chang),박세현(Se Hyun Park) 대한전자공학회 2008 電子工學會論文誌-CI (Computer and Information) Vol.45 No.4

본 논문에서는 손 모양 인식을 이용한 비전기반의 모바일 로봇제어 시스템을 제안한다. 손 모양을 인식하기 위해서는 움직이는 카메라로부터 정확한 손의 경계선을 추출하고 추적하는 것이 필요하다. 이를 위해 본 논문에서는 초기 윤곽선 위치 및 경계에 강건하고, 빠른 물체를 정확히 추적할 수 있는 mean shift를 이용한 활성 윤곽선 모델(ACM) 추적 방법을 개발하였다. 제안된 시스템은 손 검출기, 손 추적기, 손 모양 인식기, 로봇 제어기 4가지 모듈로 구성된다. 손 검출기는 영상에서 피부색 영역으로 정확한 모양을 손으로 추출한 이후 활성 윤곽선 모델(ACM) 과 mean shift를 사용하여 손 영역을 정확히 추적한다. 마지막으로 Hue 모멘트에 이용하여 손의 형태를 인식한다. 제안된 시스템의 적합성을 평가하기 위하여 2족 보행로봇 RCB-1에서 실험이 수행 되었다. 실험 결과는 제안된 시스템의 효율성을 증명하였다. This paper presents a vision based walking robot control system using hand shape recognition. To recognize hand shapes, the accurate hand boundary needs to be tracked in image obtained from moving camera. For this, we use an active contour model-based tracking approach with mean shift which reduces dependency of the active contour model to location of initial curve. The proposed system is composed of four modules: a hand detector, a hand tracker, a hand shape recognizer and a robot controller. The hand detector detects a skin color region, which has a specific shape, as hand in an image. Then, the hand tracking is performed using an active contour model with mean shift. Thereafter the hand shape recognition is performed using Hue moments. To assess the validity of the proposed system, we tested the proposed system to a walking robot, RCB-1. The experimental results show the effectiveness of the proposed system.

Mechatronics Design of Multi-Finger Robot Hand

Chwan-Hsen Chen 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

The author reports the development of a multi-finger robot hand with the mechatronics approach. The proposed robot hand has 4 fingers with 14 under-actuated joints driven by 10 linear actuators with linkages. Each of the 10 nodes in the distributed control system uses position and current feedback to monitor the contact stiffness and control the grasping force according to the motor current change rate. The combined force and position control loop enable the robot hand to grasp an object with the unknown shape. Pre-defined tasks, such as grasping and pinching are stored as scripts in the hand controller to provide a high-level programming interface for the upstream robot controller. The mechanical design, controller design and co-simulation are performed in an integrated model-based software environment, and also for the real time code generation and for mechanical parts manufacturing with a 3D printer. Based on the same model for design, a virtual robot hand interface is developed to provide off-line simulation tool and user interface to the robot hand to reduce the programming effort in fingers" motion planning. In the development of the robot hand, the mechatronics approach has been proven to be an indispensable tool for such a complex system.