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<h1 style="color: #000 !important;">Abstract 20150311</h1>
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<p><strong><의공학연구소 아산재활로봇포럼></strong></p><p><strong>연자 : 박형순 교수 (한국과학기술원 기계공학과)</strong></p><p><strong>주제 : 보급형 상하지 재활 시스템의 개발 및 적용</strong></p><p><strong>일시 : 3월 11일 수요일 17:00~</strong></p><p><strong>장소 : 아산생명과학연구원 융합연구관 7층 회의실</strong></p><p><strong><br></strong></p><p>The presentation will introduce three topics aimed at developing and applying cost-effective rehabilitation systems: 1) upper limb rehabilitation, 2) lower limb rehabilitation, and 3) assessment robots.</p><p>1. Robotic devices for upper limb rehabilitation</p><p>A novel 7 (active) 2 (passive) degree of freedom (DOF) exoskeleton robot, named as IntelliArm, for upper limb rehabilitation was developed for patients with neurological impairment. The 7 2 DOF IntelliArm was designed for allowing anatomically correct motions in the upper extremity especially at shoulder. It incorporated 18 axis forces/torques and 9 DOF positions in impairment characterization and subject-specific treatment. While the IntelliArm is fully equipped with multi-DOF sensors and actuators for full active operation at each joint, many customers (clinicians and patients) might not afford it since multi-DOF sensors and actuators result in high cost. For this reason, we designed low-cost, light weight and effective devices for upper limb rehabilitation. We have developed a simple passive mechanism to allow three DOF translations of shoulder joint while compensating gravity of any upper limb device</p><p>attached to it. Lastly, we developed light-weight hand rehabilitation device for easy attachment to existing upper limb devices considering that upper limb rehabilitation must allow patients to practice simultaneous movement of arm and hand. The Biomimetic Hand Exoskeleton Device (BiomHED) is actuated by exotendons that mimic the geometry of the major tendons of the hand.</p><p>2. A Novel Treadmill Interface for lower limb rehabilitation</p><p>Virtual reality (VR) technology along with treadmill training (TT) can effectively provide goaloriented practice and promote improved motor learning in patients with neurological disorders. Moreover, the VR TT scheme may enhance cognitive engagement for more effective gait rehabilitation and greater transfer to overground walking. For this purpose, we developed an individualized treadmill controller with a novel speed estimation scheme using swing foot velocity, which can enable user-driven treadmill walking (UDW) to more closely simulate overground walking (OGW) during treadmill training. We implemented the UDW using low-cost depth sensor and treadmill.</p><p>4. Assessment robots</p><p>In rehabilitation, reliable assessment is important not only for designing optimal rehabilitation program for individual patient but also for accurate evaluation of new rehabilitation tools or interventions. Specifically, we focused on spasticity assessment which is known to have poor interrater and intra-rater reliability. First, we used a manual spasticity evaluate to measure quantitative parameters (position, velocity, and resistance force) to build a mathematical model describing spastic elbow joint. Then, we developed a haptic device for simulating different spasticity models obtained from children with cerebral palsy. The haptic simulator can be used as a training tool for standardizing haptic feel during the spasticity assessment which will potentially improve reliability of clinical assessment. It also can be extended to tele-assessment of spasticity at patient’s home.</p><p><img src="/uploads/552db09823525.PNG"></p><p><img src="/uploads/552db0ab46dae.PNG"></p><p><img src="/uploads/552db0bf5f963.jpg"></p>
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