목적 : 본 연구는 델파이 방법을 적용하여 지역사회에 거주하는 정상 노인의 치매 예방을 위한 비대면 인지-운동 이중과제 중재 프로그램을 개발하고자 하였다. 연구방법 : 2021년 9월부터 12월까지 연구를 진행하였으며 연구는 문헌 고찰, 인지-운동 중재 프로그램 개발, 델파이 설문조사 과정을 거쳤다. 문헌 고찰은 2021년 9월부터 10월까지 세 명의 연구자에 의해 수행되어 인지-운동 중재 프로그램을 검토하였으며 이후 1차 인지-운동 중재 프로그램을 개발하였다. 1차 델파이 설문조사는 2021년 10월부터 2021년 11월까지 진행되었다. 델파이 설문조사의 전문가 패널은 총 20명으로 두 그룹으로 나누어 기준을 설정하였으며 1그룹은 국내외 대학교 작업치료전공 교수로 재직 중이며 노인 연구를 1회 이상 수행하였거나 노인 기관에서 근무한 경험이 있는 자이며, 2그룹은 노인 작업치료 임상 경력이 5년 이상이거나 작업치료학 석사 및 박사과정 재학생인 자이다. 1차 델파이 설문조사에서 수집된 결과를 바탕으로 개발된 중재 프로그램의 수정과정이 이루어졌으며 최종적으로 12회기의 비대면 인지-운동 중재프로그램이 개발되었다. 수정된 중재 프로그램에 대해 2차 델파이 설문조사를 진행하여 최종적으로 의견을 수렴하였다. 결과 : 1차 델파이 설문조사의 결과에서는 61개 모든 항목의 content validity ratio (CVR)값은 기준값인 .5 이상이었으므로 삭제해야 할 문항은 없었다. 그러나 전문가 패널의 조언 및 의견을 수렴하여 과제의 난이도와 연결된 인지 영역을 수정했다. 2차 델파이 설문조사 결과 65개 모든 항목의 CVR값은 .7~1.0이었으며 안정도는 .5 이하로 전문가 패널의 응답이 안정적인 것으로 판단하였다. 수렴도는 .125~.5였으며 합의도는 .67~1.0였다. 결론 : 본 연구는 근거 기반의 중재를 제공하고자 문헌 고찰과 델파이 설문조사를 통해 12회기의 인지-운동 중재 프로그램을 개발하였다. 본 연구를 통해 도출된 인지-운동 중재 프로그램은 과제의 적합도, 난이도의 적절성, 인지 패러다임과 인지 영역에 대한 매칭의 타당도가 적합하였으므로 근거 중심의 중재를 제공할 수 있을 것이다.

목적 : 본 연구는 이중과제를 이용한 작업치료 프로그램을 적용하여 경도인지장애 노인의 인지기능 및 보행에 미치는 효과를 알아보고자 하였다. 연구방법 : 연구 대상은 경도인지장애 노인 36명(실험군 18명, 대조군 18명)이었고, 연구 설계는 사전- 사후 통제 집단설계(pretest-posttest control group design)를 적용하였다. 중재는 주 1회 60분씩, 12주, 총 12회기를 실시하였다. 중재 전과 후의 비교를 위해 인지기능은 노인용 로웬스타인 작업치료 인지평가(Loewenstein Occupational Therapy Cognitive Assessment-Geriatric Population; LOTCA-G)를, 보행은 일어서서 걷기 검사(Timed Up and Go; TUG)를 사용하였다. 결과 : 이중과제를 이용한 작업치료 프로그램은 실험군의 인지기능과 보행을 향상시켰고 단일과제활동 프로그램에 참여한 대조군과 유의한 차이를 보였다. 결론 : 본 연구의 이중과제를 이용한 작업치료 프로그램은 경도인지장애 노인의 인지기능 및 보행을 향상 시키는 프로그램으로서의 가치 및 효용성을 확인하였기에, 경도인지장애 노인의 치매예방을 위한 적극적인 중재 프로그램으로 제안한다.

The purpose of this study was to evaluate the effect of dual-task training with cognitive effort on the walking and balance functions of chronic stroke patients. The study included 14 chronic stroke patients, who were randomly divided into the experimental group (EG) and control group (CG), each with 7 patients. The EG performed the dual-task training with cognitive effort 3 times a week, 30 minutes for 4 weeks, where as the CG performed single-task training three times a week, for 30 minutes for 4 weeks. Outcome assessments were made with 10 m walk test, timed up and go test, 6 minutes walk test, and Berg balance scale. In within-group comparison, subjects from the EG showed significant differences in all variables (p<.05), while subjects from the CG showed only significant differences in 6 minutes walk test, and Berg balance scale (p<.05). Further, there was significant difference in the improvement rate of 10 m walk test. The findings suggest that the dual-task with cognitive effort may be beneficial for improving walking and balance functions of patients with chronic stroke.

This study examines changes in walking ability among patients with stroke after applying dual-task training under the condition of visual control and unstable supporting ground; the purpose is to provide reference data for selecting intervention methods that enhance the walking ability of patients with stroke. Among the patients with stroke who received rehabilitation treatment(at Rehabilitation Hospital B in Gyeonggi, South Korea from May 2014 to July 2014), 29 patients were selected as research subjects; all of them understood the purpose and contents of this research and agreed to participate in the experiment. The research subjects were divided into a visual control and unstable supporting ground dual-task(VUDT) group(10 patients), a visual control dual-task(VDT) group(10 patients), and an unstable supporting ground dual-task(UDT) group(9 patients); all of the subjects received 30-minute trainings, three times a week for a total of four weeks. A Timed-Up-and-Go(TUG) test was performed to investigate the change of walking function among the subjects, and a 10m walking test was conducted to measure their walking speed. According to the study results, all three groups showed significant differences after dual-task training; the dual-task training group under the condition of visual control and unstable supporting ground showed the most prominent change. This study confirmed that dual-task training using visual control and unstable supporting ground has a positive impact on the walking ability of patients with stroke. Through the study results, we found that implementing dual-task training under the condition of visual control and unstable supporting ground can more effectively improve the walking ability of patients with stroke, rather than performing visual control dual-task training or unstable supporting ground dual-task training only.

Previous studies have reported that decreased cognitive ability has been consistently associated with significant declines in performance of one or both tasks under a dual-task walking condition. This study examined the relationship between specific cognitive abilities and the dual-task costs (DTCs) of spatio-temporal gait parameters in stroke patients. The spatio-temporal gait parameters were measured among 30 stroke patients while walking with and without a cognitive task (Stroop Word-Color Task) at the study participant's preferred walking speed. Cognitive abilities were measured using Computerized Neuropsychological Testing. Pearson's correlation coefficients (r) were calculated to quantify the associations between the neuropsychological measures and the DTCs in the spatio-temporal gait parameters. Moderate to strong correlations were found between the Auditory Continuous Performance test (ACPT) and the DTCs of the Single Support Time of Non-paretic (r=.37), the Trail Making A (TMA) test and the DTCs of Velocity (r=.71), TMA test and the DTCs of the Step Length of Paretic (r=.37), TMA test and the DTCs of the Step Length Non-paretic (r=.36), the Trail Making B (TMB) test and the DTCs of Velocity (r=.70), the Stroop Word-Color test and the DTCs of Velocity (r=-.40), Visual-span Backward (V-span B) test and the DTCs of Velocity (r=-.41), V-span B test and the DTCs of the Double Support Time of Non-paretic (r=.38), Digit-span Forward test and the DTCs of the Step Time of Non-paretic (r=-.39), and Digit-span Backward test and the DTCs of the Single Support Time of Paretic (r=.36). Especially TMA test and TMB test were found to be more strongly correlated to the DTCs of gait velocity than the other correlations. Understanding these cognitive features will provide guidance for identifying dual- task walking ability.

The purpose of this study was to examine the effects of dual-task training (cognitive and exercise tasks) on the balance and gait performance of chronic stroke patients. Eighteen subjects with chronic stroke were divided equally into two groups, an experimental group and a control group. Subjects in both groups participated in an exercise program, performing the same tasks, for 45 minutes per day, three times per week for four weeks. The experimental group also performed additional cognitive task. The experimental group showed a more significant improvement than the control group on the Berg Balance Scale, the Timed Up and Go Test, the Korean Activities-Specific Balance Confidence Scale, and the Functional Gait Assessment (p<.05). The cognitive task error rates in the final week were significantly less than in the first week in the experimental group (p<.01). These results suggest that dual-task training for chronic stroke patients is effective in improving balance, gait, and cognitive abilities.

In daily activities, people often perform two or more tasks simultaneously. This is referred to as dual-tasking or multi-tasking. The purpose of this study was to examine the effects of performing dual tasks while using a mobile phone on static and dynamic postural stability. Twenty-four subjects were asked to stand on a force plate and then instructed to perform a balance task only (BT), a balance task while listening to music (BTL), a balance task while talking on the mobile phone (BTT), and a balance task while sending text messages (BTS). We used the BioRescue to measure postural sway and limit of stability for static and dynamic postural stability. Also the star excursion balance test (SEBT) was used to measure dynamic postural stability. A one-way ANOVA with repeated measures was used to compare the effects of the BT, BTL, BTT, and BTS. The Bonferroni's post hoc test was used to determine the differences among four tasks. Carrying out the BTS significantly decreased the limit of stability compared with carrying out the BT, BTL, and BTT (p<.05). In limit of stability, total surface area of BTT was more significantly decreased than that of BT and total surface area of BTS was more decreased than that of BT, BTL and BTT (p<.05). In the SEBT, the BTS displayed significantly smaller reach distance values compared with the BT or BTL (p<.05). These findings suggest that performing the balance task while sending text message on the mobile phone decreases dynamic postural stability, whereas performing the same task while listening to music using the mobile phone does not. Therefore, it requires more attention to maintain dynamic balance while sending text messages.

This study examined whether any changes by mental task types on postural control in chronic stroke persons. Sixteen chronic stroke persons (mean age=53.75 yr) and sixteen age-and gender-matched healthy controls (mean age=54.44 yr) took part in this study. Participants randomly performed three different tasks on the stable and unstable surfaces. The no mental task was to stand while holding a 100 g weight in each hand, the arithmetic task (mental task) was to perform a silent 1-backwards counting while standing and holding a 100 g weight in each hand, and the simple task (mental task) was to stand and hold with both hands a tray (200 g) on which a glass filled with water has been placed. Sway path and sway velocity of the center of pressure (COP) were measured to assess standing postural control by task performance using the force platform. According to the results, in stroke group, total sway path and total sway velocity of COP was significantly decreased during arithmetic and simple task compared to no mental task on the stable surface (p<.05), and sway path (anteroposterior AP, mediolateral ML) of COP, total and sway velocity (AP, ML, total) of COP was significantly decreased during arithmetic and simple task compared to no mental task on the unstable surface (p<.05). Especially, sway path (AP, total) of COP and sway velocity (AP, ML, total) of COP was significantly decreased under the simple task when compared to the arithmetic task on the unstable surface (p<.05). In healthy control group, sway path (AP, ML, total) of COP and sway velocity (AP, ML, total) of COP was significantly decreased during arithmetic and simple task compared to no mental task on the stable and unstable surface (p<.05), and sway path (AP, total) of COP and sway velocity (AP, ML, total) of COP was significantly decreased under the simple task when compared to the arithmetic task on the unstable surface (p<.05). In conclusion, the findings of this study showed that arithmetic and simple task improved standing postural control for chronic stroke patients and the type of arithmetic and simple tasks were critical factor that reduced standing postural sway in dual-task conditions. Future research should determine whether dual-task conditions, including simple task, would be effective as a training program for standing postural control of stroke patients.

Studies of attentional focus effects, have shown that the performer's attentional focus plays an important role in the performance and learning of motor tasks. We examined the influence of attentional focus on the performance of dual tasks (a postural task and a suprapostural task) and used electromyography (EMG) to examine whether the differences between external and internal focus were also manifest at the neuromuscular level. The subjects (n=40) stood on a balance board (postural task) and held a bar horizontally (suprapostural task). All of the subjects performed under different attentional focus conditions: external (balancer on balance board) or internal (feet) focus on the postural task, and external (balancer on bar) or internal (hand) focus on the suprapostural task. The mean displacement velocity of the bar and the percent reference voluntary contraction (%RVC) of the biceps brachii were reduced when the subjects adopted an external focus on the suprapostural task (p<.05). In addition, the mean displacement velocity of the balance board and %RVC of the tibialis anterior were reduced when the subjects adopted an external focus on the postural task (p<.05). When the subjects adopted an external focus on the suprapostural task, the mean displacement velocity of the balance board and %RVC of the tibialis anterior were also reduced (p<.05). When the subjects' attentional focus was on the postural task, there were no differences in the mean displacement and %RVC of the biceps brachii between attentional focuses. The performance of each task was enhanced when subjects focused on the respective task. The suprapostural task goals had a stronger influence on postural control than vice versa. These results reflect the propensity of the motor system to optimize control processes based on the environmental outcome, or movement effect, that the performer wants to achieve.

본 연구의 목적은 이중과업 방법론(dual task methology)을 사용해서 젊은 사람과 노인을 대상으로 독립된 두 사건(two separate concurrent events)을 동시에 수행하는데 요구되는 주의력에 대한 분석과 노인에서의 특징적 차이를 찾는 것이다. 본 실험은 대상자가 힘판(force plate) 위에서 장애물(10cm) 보행시에 경피자극(cutaneous stimulation)에 대하여 마이크로 스위치(micro-switch)를

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.