|
A Compact Finger Motion Measurement System without a Calibration Process |
|
Yeongyu Park, Joonbum Bae(UNIST, Korea) |
| In this paper, a compact finger motion measurement system without a calibration process is proposed. A rigid structure is attached to each finger phalanx and the finger joint angle is measured as the rotation angle between the rigid structures. The absolute rotation angle is calculated by the lengths of the triangle in the structures. Therefore, the proposed system does not require the calibration process. The performance of angle measurement was verified by the measurement of the commercialized rotary hall sensor and the prototype of one joint was manufactured. |
|
|
Extraction of Clinically Relevant Kinematic Parameters from IMU-based Motion Capture System in Upper Extremity of Stroke Patients |
|
Hyung Seok Nam, Woo Hyung Lee(Seoul National University College of Medicine, Korea), Matthew W Smuck(Stanford University, United States), Sungwan Kim(Seoul National University College of Medicine, Korea) |
| Potential kinematic parameters that may serve as clinical outcome measures which can be measured by accelerometers or gyrosensors were determined using IMU sensor based motion analysis system. Average amplitude of forearm rotation during the Action Research Arm Test, and average amplitude of acceleration from wrist sensors showed significant difference between healthy subjects and stroke patients, and also significant correlation with clinical functional assessment scores. Specific parameters from IMU sensors may serve as clinically relevant outcome measures. |
|
|
Design of a seamless active ankle foot orthosis empowered by a custom portable pneumatic pump |
|
Sangjoon J. Kim, Handdeut Chang, Haedo Cho, Jung Kim(Korea Advanced Institute of Science and Technology (KAIST), Korea) |
| In this study, an ankle foot orthosis has been designed focusing on minimizing the weight and size of the orthoses. The orthosis is empowered pneumatically using a portable custom microcompressor. The weight and size reduction was realizable by minimizing the weight and size of the driven output cylinder that was installed to the posterior of the ankle. The finalized weight of the developed AFO was approximately 600g that can provide 15 Nm of assistive torque for ankle plantar flexion. |
|
|
Development of Active Suspension System for the Improvement of Driving Quality in Electric powered wheelchairs |
|
Sung Hyun Jang(GERI, Korea) |
| Electric powered wheelchairs have used mainly spring-shaped manual suspension for price competitiveness and battery efficiency. Considering the health and weak physical condition of rehabilitation patients riding in wheelchairs, the damping should be applied more strictly. In this paper, it will describe active suspension that has not been applied to wheelchairs in the medical device market. |
|
|
Control Strategy for Shoulder Rehabilitation Robot |
|
Jeong-Ho Park, Kyoung-Soub Lee(Korea Advanced Institute of Science and Technology, Korea), Hyung-Soon Park(KAIST, Korea) |
| Control Algorithms to Implement Two Popular Rehabilitation Tasks;Passive Stretching and Voluntary Exercise.
Force based velocity control for safe passive stretching.
Implementation of Back-drivability based on torque- or velocity-control modes.
|
|
|
Observation of Human Trajectory in Response to Haptic Feedback from Mobile Robot |
|
Hee-Seung Moon, Woohyun Kim, Seungjae Han, Jiwon Seo(Yonsei University, Korea) |
| The coupled movement of humans and robots is an integral aspect of human–robot cooperation. In this study, we performed an experiment to analyze the walking trajectory of a blindfolded participant receiving haptic feedback from a mobile robot. Using a haptic device equipped in the mobile robot, we generated appropriate haptic feedback that can guide humans to the desired path. The experiment was performed in a laboratory environment equipped with a motion capture system in order to analyze the participant’s walking trajectory when the appropriate haptic feedback was provided. |
|