• 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.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.10
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• pp.865-871
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• 2015

This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.717-722
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• 2012

This paper presents the design and dynamic model of the finger exoskeleton actuated by Ionic Polymer Metal Composites (IPMC) to assist a tip pinch task. Although this exoskeleton will be developed to assist 3 degree-of-freedom motion of each finger, it has been currently made to perform the tip pinch task using 1 degree-of-freedom mechanism as the first step. The six layers of IPMC were stacked in parallel to increase the low actuation force of IPMC. In addition, the finger dummy was manufactured to evaluate the performance of the finger exoskeleton. The pinch task experiments, which were performed on the finger dummy with the developed exoskeleton, showed that the pinch force close to the desired level was obtained. Moreover, the dynamic model of the exoskeleton and finger dummy was developed in order to perform the various analyses for the improvement of the exoskeleton.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.10
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• pp.873-878
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• 2015

A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.

• Journal of Appropriate Technology
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• v.6 no.2
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• pp.219-225
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• 2020

Importance of touch equipment and smart learning increases and public institutions and educational facilities are applying smart devices to their daily environments. However, users of public smart devices are at risk of being exposed to the direct and indirect spread of infectious diseases. This study develops an exo-finger that wraps the fingertips of smart device users and is intended to have a disease prevention effect when used on public equipment. An exoskeletal body was fabricated by inserting a secondary material which is a mixture of the activating material, carbon black (CB) and a macromolecular polymer (elastomer) into a mold. This device was confirmed to have a touch function when the CB content was 0.030 wt% or higher, and the content of the elastomer was varied so that it could have a friction force similar to that when a person touches a smart device (a friction coefficient of 2.5). Through experiments, it was concluded that the CB content had little effect on the friction coefficient. As a result of testing the completed prototype on a smart device, it was proven that the developed exoskeletal device can be useful in situations where it is impossible to touch due to wearing protective gears, or when equipment such as gloves is used to prevent the spread of infectious diseases.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1621-1622
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• 2013

• Journal of the Korean Society for Precision Engineering
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• v.31 no.7
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• pp.643-649
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• 2014

In order to demonstrate the possibility of applying an ionic polymer metal composite (IPMC) to a finger exoskeleton, pinching motion analysis was performed for a thumb-index finger dummy actuated by IPMC actuators. The IPMC actuators of 5mm in width and 40mm in length with 2.4mm thickness generated 1.52N of blocking force for the applying voltage of 4.0V. Three actuators were installed on the three rotary joint of an index finger, and one actuator was installed on one proximal joint. Positions of each joint and finger tip were recorded on the video camera, and motion was analyzed. Power supply to the index finger actuators preceded power supply to the thumb actuator, and key pinching motion was accomplished in 180s. Tip pinching was accomplished in 135s as power supply to the thumb preceded power supply to the index finger.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.1
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• pp.264-273
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• 2012

This cross-sectional study was investigated musculoskeletal discomfort symptoms and related factors on some middle high school teachers. Self-questionnaire of KOSHA CODE H-30-2003 was done with 250 teachers from 1st to 15th October, 2010, the data from 231 teachers (68 male, 163 female) was statistically analyzed to search the factors related to musculoskeletal discomfort symptoms. According to NIOSH rate of musculoskeletal discomfort symptoms by body parts was 36.8%. Musculoskeletal discomfort symptoms related to age, school types, subjective health status, housekeeping time, VDT work time and regular rest. After adjusting for related variables, odds ratio (OR) of musculoskeletal discomfort symptoms was correlation significantly to subjective health status unhealthy (OR 11.75, 95% Confidence Interval, CI, 3.56-378.78). In addition, ORs (95% CI) of age (40-49) and housekeeping time (${\geq}3$) were 4.63 (1.82-26.18) and 4.33 (1.97-19.34). Analysis of the factors influencing the musculoskeletal discomfort symptoms vary in different parts of the body. The most discomfort symptoms by parts was neck (26.0%) and shoulder (30.0%). In the neck region was related to subjective health status and regular rest. In the shoulder and waist region was subjective health status and sex. Age was wrist/finger, leg/foot was related to subjective health status, sex and VDT work time. Age, school types, subjective health status, housekeeping time, VDT work time and regular rest related to musculoskeletal discomfort symptoms and the most discomfort symptoms by parts was neck and shoulder.

• Journal of agricultural medicine and community health
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• v.44 no.4
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• pp.209-219
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• 2019

Objectives: This study investigated musculoskeletal symptoms in upper limbs according to the working environment (job stress) of dental hygienists and examine their relationship with upper limb functions. Methods: The subjects include 198 dental hygienists in dental hospitals and dental clinics in Pusan and Gyeongnam. The questionnaire was consisted of general characteristics of the subjects, job stress, musculoskeletal symptoms in upper limbs and function (Disability Measurement Tool for Upper Extremity Disorders-11, DASH-11). Results: The study was analyzed their musculoskeletal symptoms in upper limbs according to their general characteristics and found that the symptoms occurred in the neck (39.4%), the shoulders (54.6%), elbows (14.7%), and the hands (50.0%). Job stress was associated with upper limb functions (DASH-11) (model 3, B=5.210, p=0.012) and repeated elbow bending and spreading posture was associated with DASH-11 (model 3, B=6.561, p=0.029). Elbow symptoms were associated with DASH-11 in the upper limbs (B=10.679, p=0.003). Conclusion: Dental hygienists are experiencing limitations of upper limb function due to job stress. In particular, even if the correction of their uncomfortable posture is significantly related to the job stress and upper limb function, in order to improve the upper limb function of the dental hygienist, efforts to reduce the job stress as well as the uncomfortable posture are necessary.