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Design and Analysis of Decoupled Parallel Mechanism with Redundant Actuator
김선호,김선호,전동수,신현표,인우성,김종원 한국정밀공학회 2009 International Journal of Precision Engineering and Vol. No.
This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.
국소 진동 자극과 양쪽 팔 훈련의 융합 중재가 뇌졸중 환자의 팔 기능 회복에 미치는 효과
김선호 한국융합학회 2021 한국융합학회논문지 Vol.12 No.2
본 연구의 목적은 국소 진동 자극과 양측성 팔 훈련의 융합 중재를 뇌졸중 환자에게 적용했을 때, 팔 기능 개선에 미치는 영향을 알아보는 것이다. 20명의 뇌졸중 환자를 국소 진동 자극과 양측성 팔 훈련의 융합 중재를 실시한 실험군 과 양측성 팔 훈련만 실시한 대조군으로 나누어, 회기 당 30분씩 4주간, 총 20회 실시하였다. 진동자극은 실험군의 손상 측 팔에 훈련이 이루어지는 30분간 적용되었다. 평가는 손상 측 팔의 회복정도와 양측 팔 의 사용량, 양손 사용의 수행 의 질과 만족도를 측정하였으며, 대응표본 t-검정을 사용하여 그룹 내, 공분산 분석을 사용하여 그룹 간 비교를 하였다. 연구 결과, 실험군은 대조군보다 손상 측 팔의 기민성과 손상 측의 사용량에서 유의한 차이의 변화를 보였다. 효과 크기 는 모든 항목에서 작은 효과 크기 이상의 차이를 보였다. 본 연구를 통해, 국소 진동 자극과 양측성 팔 훈련의 융합 중재가 뇌졸중 환자의 팔 기능 회복을 위한 효율적 중재로써 임상에서 사용 될 수 있을 것으로 생각된다. The purpose of this study was to investigate the convergence effect of focal vibration stimulation and bilateral upper limb training on the recovery of upper limb function when applied to stroke patients. For 20 stroke patients, divided into an experimental group that performed convergence intervention with focal vibration stimulation and bilateral upper limb training, and a control group who performed only bilateral upper limb training. It was conducted 20 times for 4 weeks, 30 minutes per session. Vibration stimulation was applied to the affected side of the experimental group for 30 minutes during training. Results were measured for the degree of recovery of the affected upper limb function, amount of use on the affected and unaffected sides, the quality and satisfaction in performance on use of both upper limbs. Comparisons were made within groups using a paired-sample t-test and between groups using covariance analysis. As a result of the study, the experimental group showed a significant difference in dexterity and the amount of use on the affected than the control group. The effect size was more than the small effect size in all evaluation items. Through this study, it is thought that the convergence intervention of focal vibration stimulation and bilateral upper limb trainingcan be used clinically as an effective intervention for the recovery of arm function in stroke patients.