• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• Proceedings of the Korean Institute of Industrial Safety Conference
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• 2002.05a
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• pp.307-312
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• 2002

새로운 산업 구조와 변화된 사회 환경으로 인해 우리나라에서 최근 급증하고 있는 직업병 중의 하나가 직업 성 근골격계질환(Work-related Musculoskeletal Disorders, WMSDs)이다. 이 질환은 특정한 신체 부위의 반복 작업과 불편하고 부자연스러운 작업 자세, 강한 노동 강도, 과도한 힘, 불충분한 휴식, 추운 작업 환경, 진통 등이 원인이 되어 목, 어깨, 팔꿈치, 손목, 손가락, 허리, 다리 등 주로 관절 부위를 중심으로 근육과 혈관, 신경 등에 미세한 손상이 생겨 결국 통증과 감각 이상을 호소하는 근골격계질환의 만성적인 건강장해다.(중략)

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• The korean journal of orthodontics
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• v.24 no.3 s.46
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• pp.569-586
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• 1994

The purpose of this study is to investigate the effect of loss of incisal function on the thickness, growth activities, ultrastructure of the condylar cartilage and on the muscle fibers of masseter superlicialis, anterior belly of digastric muscle in the growing rats. 37 day-old-rats of which incisors had been trimmed every day received soft diet from weaning and were studied by the autoradiography, electron microscopy and muscle histochemistry. The results obtained were as follows : The thickness of the fibrous, proliferative layer in superior, posterosuperior portion of the condylar cartilage was significantly(p<0.01) reduced in experimental groups and the decrease rate of fibrous layer thickness was greater in posterosuperior portion than in superior portion of cartilage and was greater than in proliferative layer. In normal group, more cells of posterosuperior portion moved more rapidly towards the medullary cavity. In experimental group, the labelling index of posterosuperior portion was decreased in proliferative layer at 2 hours, in transitional layer at 1, 2 days, in hypertrophic layer at 4 days after injection relative to posterosuperior portion of control group. But labelling index of superior portion was not different from that of control group at all time course after injection. From the muscle histochemistry, the diameter of type IIB fibers in masseter superficialis muscle, type IIA, type IIB fibers in anterior belly of digastric muscle decreased significantly(p<0.01) relative to controls in experimental group. From electron microscopic study, in the fibrous layer of the posterosuperior portion of condylar cartilage in normal group, many fibroblast like cells near the joint cavity showed extensive remodelling activities in ultrastructure. There was no morphological changes between experimental and control group in all cartilage cell layers of superior portion but cells near the joint cavity in fibrous layer of posterosuperior portion of experimental group showed morphologically inactive state relative to control group.