• 대한통합의학회지
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• 제6권1호
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• pp.75-81
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• 2018

Purpose : The aim of this study was to compare the muscle activities of thumb and wrist during unimanual, bimanual symmetric and bimanual reciprocal movements using surface electromyography. Method : Thirty-six participants were involved in this study. Two blocks were used to perform unimanual, bimanual symmetric and bimanual reciprocal movements of thumb and wrist. Muscle activities in the flexor pollicis brevis, abductor pollicis brevis, extensor carpi radialis and flexor carpi radialis were measured using an surface EMG system. Result : For the flexor pollicis brevis and abductor pollicis brevis, significant difference in the muscle activity were found among the unimanual, bimanual symmetric and bimanual reciprocal movement. For the extensor carpi radialis and flexor carpi radialis, the unimanual movement significantly different from the bimanual symmetric and reciprocal movements. Conclusion : Both the thumb and wrist, bimanual symmetric and reciprocal movements were more efficient than the unimanual movement. Moreover, with regard to the thumb, the bimanual reciprocal movement was more efficient than the bimanual symmetric movement.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 한국운동역학회지
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• 제32권4호
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• pp.121-127
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• 2022

Objective: The purpose of this study was to investigate potential effects of transcranial direct current stimulation (tDCS) on bimanual force control capabilities in healthy young adults. Method: Eighteen right-handed healthy young adults (10 females and 8 males; age: 23.55 ± 3.56 yrs) participated in this crossover design study. All participants were randomly allocated to both active-tDCS and sham-tDCS conditions, respectively. While receiving 20 min of active- or sham-tDCS interventions, all participants performed bimanual isometric force control tasks at four submaximal targeted force levels (i.e., 5%, 10%, 15, and 20% of maximal voluntary contraction: MVC). To compare bimanual force control capabilities including force accuracy, variability, and regularity between active-tDCS and sham-tDCS conditions, we conducted two-way repeated measures ANOVAs (2 × 4; tDCS condition × Force levels). Results: We found no significant difference in baseline MVC between active-tDCS and sham-tDCS conditions. Moreover, our findings revealed that providing bilateral tDCS including anodal tDCS on left primary motor cortex (M1) and cathodal on right M1 while conducting bimanual force control trials significantly decreased force variability and regularity at 5%MVC. Conclusion: These findings suggest that providing bilateral tDCS on M1 areas may improve bimanual force control capabilities at a relatively low targeted force level.

• 한국운동역학회지
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• 제31권4호
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• pp.259-269
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• 2021

Objective: The purpose of this systematic review and meta-analysis was to investigate age-related bimanual coordination functions in older adults. Method: Thirteen studies that compared bimanual coordination functions in older adults with those in healthy young adults qualified for this meta-analysis. We additionally categorized 21 total comparisons from the 13 qualified studies into two types of task-related moderator variables: (1) kinematic versus kinetic movements and (2) symmetry versus asymmetry movements. Results: Random effects model meta-analysis found that older adults revealed significant bimanual coordination impairments as compared with young adults (Hedges's g = -0.771; p < .0001; I² = 74.437%). We additionally confirmed specific bimanual coordination deficits using two moderator variables: 1) kinematic (Hedges's g = -0.884; p < .0001; I² = 0.000%) and kinetic (Hedges's g = -0.666; p = .023; I² = 86.170%). 2) symmetry (Hedges's g = -0.712; p = .001; I² = 74.291%) and asymmetry (Hedges's g = -0.817; p < .0001; I² = 76.322%). The moderator variable analysis indicated older adults indicated bimanual coordination deficits in the upper extremities than healthy young adults while performing kinematic bimanual coordination tasks and asymmetry coordination tasks. Conclusion: These findings suggest that developing motor rehabilitation programs based on asymmetric bimanual movement task for enhancing interlimb coordination functions of older adults may be crucial for increasing their independence in everyday activities. Given that elderly revealed the deficits in lower extremities coordination when older adults perform gait, posture, and balance, future studies should estimate lower limb coordination functions in elderly people.

• 재활치료과학
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• 제9권2호
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• pp.119-135
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• 2020

목적 : 양측 집중 훈련 치료가 뇌졸중 환자의 상지 기능 및 일상생활에 미치는 영향을 알아보고자 하였다. 연구방법 : 뇌졸중 편마비 환자 18명을 대상으로 무작위로 양손 집중 훈련군 9명, 한손 집중 훈련군 9명으로 나누어 진행하였다. 양손 집중 훈련군에는 환측 손과 건측 손을 함께 사용하는 과제훈련을, 한손 집중훈련군에는 환측 손만을 이용한 과제훈련을 매 회 1시간 씩, 주 5회, 4주간 적용 하였다. 자료 분석은 기술통계와 교차분석(Chi-square test), 윌콕슨 부호 순위 검정(Wilcoxon singed rank test), 만-휘트니 U 검정(Mann-Whitney U test)을 사용하였다. 결과 : 집단 내 비교에서는 양손 훈련군은 자가 평가에서 일상생활 활동 수행 시 환측 상지의 사용빈도와 움직임의 질이 향상되었고, 환측 상지의 기능향상 및 양측 상지의 협응 능력에 향상을 보였다. 또한, 24시간 동안 양손 움직임의 양을 측정한 결과 건측에 비해 환측의 사용 비율이 향상 되었다(p<.05). 한손 훈련군에서도 자가 평가에서 일상생활 활동 수행 시 환측 상지의 사용빈도와 움직임의 질, 환측상지의 운동기능 증진에 효과가 있었다(p<.05). 집단 간 비교에서는 양손 집중 훈련군에서 한손 집중훈련군보다 양손의 협응 능력과 24시간 동안의 일상생활활동에서 환측의 참여 비율에 더 큰 향상이 나타나 유의한 차이를 보였으며 환측의 손 기능은 두 군간 차이를 보이지 않았다(p<.05). 결론 : 양손 집중 훈련 치료가 뇌졸중 환자의 상지 운동기능향상에 효과가 있고 한손 집중 훈련 치료보다 양손 협응 능력과 일상생활에서 환측의 사용 비율을 향상 시키는데 효과가 있는 치료 기법이라고 할 수 있다.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 한국응급구조학회지
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• 제18권2호
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• pp.35-43
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• 2014

Purpose: The purpose of this study was to establish novice user guidelines for efficient external laryngeal manipulation for intubation in difficult airway management. Methods: This study included 59 pre-qualified junior and senior emergency medical service students. The participants were instructed at random to intubate a manikin equipped with a cervical collar, thus simulating a difficult airway, using three types of external laryngeal manipulation: bimanual laryngoscopy, backward-rightward pressure, and cricoid pressure. The resultant intubation time and glottic view grade scores were estimated. Results: Intubation time was longest using the bimanual manipulation method, followed by cricoid pressure and backward-rightward pressure. A low Cormack-Lehane glottic view score was obtained regardless of the assisted compression method used. Conclusion: Backward-rightward pressure may be the most efficient method of external laryngeal manipulation on the basis of the intubation time and improvement in glottic view.

• 구강회복응용과학지
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• 제25권3호
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• pp.201-210
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• 2009

중심위는 교합적, 교정적, 보존적 관점에서 진단과 치료에 중요한 요소이며, 중심위에 대한 정의와 채득방법에 대하여서는 학자들마다 다양하게 주장하고 있다. 중심위를 채득하는 방법에는 여러 가지가 있고 임상적으로 가장 중요한 부분 중 하나가 재현성과 정확성을 확보하는 것이다. 이에 저자는 중심위 채득시 하악 과두의 운동접번축(kinematic axis)을 인식하는 Arcus $Digma^{(R)}$의 EPA test를 이용하여 중심위 채득 방법에 따른 재현성을 비교하였다. 구강 악안면계의 기능이상이 없으며 교합이 정상이고 치아의 교모 및 마모가 심하지 않은 성인 10명를 대상으로 5가지 중심위 채득 방법 (Self-guided method, Bimanual manipulation, Chin-point guidance, Leaf gauge method, Gothic arch tracer)에 따른 중심위의 재현성을 Arcus $Digma^{(R)}$를 이용하여 비교 연구한 결과 다음과 같은 결론을 얻었다. 첫째, 중심위 채득 방법에 따라 하악과두의 위치는 상이한 양상을 나타냈다. 둘째, 재현성은 bimanual manipulation이 가장 높게 나타났으며 다음으로 chin point guidance, Gothic arch tracer, leaf gauge를 이용한 방법 그리고 unguided method 순이었다. 셋째, 임상에서 양손조작법이나 chin-point guidance이 재현성면에서 비교적 매우 훌륭한 방법이라는 것을 미루어 알 수 있다.

• 구강회복응용과학지
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• 제19권2호
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• pp.115-124
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• 2003

One of the important things in the full mouth reconstruction is the determination of therapeutic position. Centric jaw relation is used as a therapeutic position for the full mouth reconstruction. There are several techniques associated with recording this position. Five clinically acceptable techniques are as follows: 1) Swallowing or free closure, 2) Chin point guidance, 3) Bimanual method 4) Myo-monitor technique, 5) Anterior deprogrammer. Centric relation obtained utilizing the anterior acrylic resin platform in this case. Another important thing in full mouth reconstruction is provisional restoration. Provisional restorations are an excellent diagnostic instrument, especially in full remain esthetics, phonetics, function, parafunction, and dysfunction after evaluation and acceptance through clinical trial with the provisional restorations should be accurately transferred to the final restorations to ensure the same clinical success. Especially, anterior guidance should be accurately transferred to the final restorations. An accurate anterior guidance is critical for optimal esthetics, phonetics, comfort, function, stress minimization, and longevity of teeth and restorations. To record optimum anterior guidance, customized anterior guide table is used in this case. Considering previously mentioned points, we did successive treatment. And it resulted in a better situation esthetically and functionally. Followings are what we cared in treating a patient in this case. 1) Accurate centric relation recording 2) Accurate transference of anterior guidance to the final restorations.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.