• 한국정밀공학회지
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• 제28권6호
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• pp.657-682
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• 2011

This paper presents the dynamic analysis on the joint torque of a finger for the tip pinch task. The dynamic model on finger movement was developed in order to predict the joint torques of an index finger, and the finger was assumed as a three-link planar manipulator. Analysis of the model revealed that the joint stiffness was one of the most important parameters affecting the joint torque. The stiffness of the finger joint was experimentally measured, and it was used in analyzing the finger joint torque required for performing the tip pinch task. The obtained joint torque for the tip pinch task will be used as the design requirements of the finger exoskeletal orthosis actuated by the polymer actuator whose allowable torque limit is relatively low compared to that of a mechanical actuator.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 대한정형외과학회지
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• 제55권6호
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• pp.457-471
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• 2020

수지는 복잡한 구조와 필수적인 기능을 가진 신체 부위로, 외상에 노출되기 가장 쉬운 부위이다. 수지 골절의 치료 원칙은 적절한 고정으로 골절부의 안정성을 획득하는 것과 안정성을 담보로 한 조기 관절 운동 간의 균형을 신중하게 결정하는 것이다. 치료에도 불구하고 합병증으로 강직이나 변형 등으로 인해 기능적, 미용적 문제가 되는 경우가 많다. 본 종설은 수지 골절 치료의 최신 지견을 소개하고, 치료가 어렵고 결과가 좋지 않은 것으로 알려진 관절면의 손상을 포함한 지절 관절 주위의 골절 및 탈구 위주로 정리하였으며, 치료 증례 소개와 합병증에 대한 접근 및 치료 순서로 기술하였다.

• Archives of Plastic Surgery
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• 제43권2호
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• pp.134-144
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• 2016

In adults, mallet finger is a traumatic zone I lesion of the extensor tendon with either tendon rupture or bony avulsion at the base of the distal phalanx. High-energy mechanisms of injury generally occur in young men, whereas lower energy mechanisms are observed in elderly women. The mechanism of injury is an axial load applied to a straight digit tip, which is then followed by passive extreme distal interphalangeal joint (DIPJ) hyperextension or hyperflexion. Mallet finger is diagnosed clinically, but an X-ray should always be performed. Tubiana's classification takes into account the size of the bony articular fragment and DIPJ subluxation. We propose to stage subluxated fractures as stage III if the subluxation is reducible with a splint and as stage IV if not. Left untreated, mallet finger becomes chronic and leads to a swan-neck deformity and DIPJ osteoarthritis. The goal of treatment is to restore active DIPJ extension. The results of a six- to eight-week conservative course of treatment with a DIPJ splint in slight hyperextension for tendon lesions or straight for bony avulsions depends on patient compliance. Surgical treatments vary in terms of the approach, the reduction technique, and the means of fixation. The risks involved are stiffness, septic arthritis, and osteoarthritis. Given the lack of consensus regarding indications for treatment, we propose to treat all cases of mallet finger with a dorsal glued splint except for stage IV mallet finger, which we treat with extra-articular pinning.

• Journal of Acupuncture Research
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• 제18권5호
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• pp.33-42
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• 2001

Objective : To evaluate the effect of treatment for Rheumatoid arthritis by using Bee-venom Acupuncture that is well known for anti-inflammatory effect and function of activating immune system. Methods : Evaluated the result of Bee-venom Acupuncture treatment twice in a week for patients who diagnosised as rheumatoid arthritis by 7 criteria of US Rheumatism Academy. Results : 1. If you see the distribution chart, sexual rate of male and female was 1:2.75 and age distribution shows as age ascend it shows high. 2. If you see the duration distribution, it shows chronic tendency in order of more than 6 months (59.5%), 2 to 5 months, and 1 month. 3. If you see the invaded region distribution, it shows chronic tendency in order of finger(17 cases), wrist joint(16 cases), knee joint(16 cases), ankle joint(10 cases), elbow joint(8 cases), shoulder joint(7 cases), feet(7 cases), hip joint(5 cases), low back(3 cases) and neck(2 cases). 4. If you see the result of duration distribution treatment, the improvement index is rising in order of within a month, 2 to 5 months, and over 6 months. So it shows that it has good result of treatment within a month. 5. If you see the invaded region, it shows high improvement index in order of low back, hop joint, shoulder joint, wrist joint, feet, knee joint, finger, elbow joint, ankle joint and neck. 6. If you see the result of morning stiffness time before treatment, it shows good effect of treatment in order of 2-3hrs, 30min.-an hr, an hr to 2hrs, and 0-30min. 7. If you see the patients satisfaction after Bee-venom Acupuncture treatment, Excellent is 6 cases, Good is 7 cases, and Moderate 2 cases. Conclusions : It will have greater treatment effect if herbal medicine, moxibustion, and acupuncture are used together as patients whole body condition and symptoms with Bee-venom Acupuncture for rheumatoid arthritis that is chronic inflammatory disease.

• 로봇학회논문지
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• 제9권4호
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• pp.258-263
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• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• Tuberculosis and Respiratory Diseases
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• 제49권2호
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• pp.162-168
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• 2000

배경 : 항결핵제 투여시 나타나는 관절 증상은 경우에 따라서는 증상의 정도가 심해 일상 생활에 영향을 미치기도 하며 약물 순응도를 저하시키기도 하므로 항결핵제 투여시 발생하는 관절 증상에 대한 이해가 필요한데 이에 대해 체계적으로 기술되어 있는 자료가 부족한 실정이다. 방법 : 6개월이상 항결핵제 33명의 환자를 대상으로 하여 치료 경과 중 특별한 다른 원인이 없이 나타나는 관절 증상에 대해 조사 하였으며 증상을 호소하지 않는 비증상군과 비교함으로써 관절 증상 발생 및 이와 관련한 위험 인자를 확인하였다. 결과 : 관절 증상을 호소하는 환자가 33명중 19명으로 증상 유병률이 58% 에 달하였으며, 증상은 약물 투여 시작 후 1.9$\pm$1.4개월에 나타나서 3.6$\pm$2.5개월 지속되었다. 한 명을 제외하고는 모두 여러 관절을 침범하며 어깨관절과 무릎 관절이 각각 10명(53%), 손가락 관절 6명(32%)으로 흔하였다. 대부분의 환자가 항결핵제의 중단 또는 변경 없이 증상이 자연 소실되었으나, 14명(74%)의 환자는 치료 중 관절 증상에 대해 진통제를 복용하였다. 원안을 확인하기는 쉽지 않았으며 PZA 이외의 약물도 증상 발현에 관여 할 것으로 보인다. 비증상군과의 비교에서 연령, 성별, 기저질환, 치료 전 및 치료 중간의 혈중 요산 농도 등에서 유의한 차이를 확인할 수 없었다. 결론 : 항결핵제 투여 중 관절 증상의 발생은 혈중 요산 농도와 관련이 없으며, 이런 증상은 PZA 이외의 다른 약제에 의해서도 유발될 수 있으므로 증상이 심해 약을 중단하거나 대체해야 할 경우 이를 고려 하여야 한다.

• 임산에너지
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• 제20권1호
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• pp.73-80
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• 2001

본 연구에서는 국산 소경제(소나무, 낙엽송)로 제작한 집성 아치재의 강도와 제작방법을 연구하였다. 아치형 집성재는 강도와 초기강성을 향상시키기 위하여 여러 가지 다른 kal나의 조합으로 제작하여 강도를 평가하였다. 실험결과 낙엽송 집성재의 rkde가 소나무 집성재보다 높게 나타났으며, 7ply 집성재의 최대하중이 5ply보다 약 2배 높은 경향을 보였다. 또한, 핑거 조인트된 라미나로 제작된 집성재는 무종접합 집성재보다 약 15.8% 낮은 강도를 나타내었다. 이 같은 문제해결의 한 방안으로 집성재의 최외각층에 베니어를 적층시켜 보강하였을 때, 베니어 집성재가 베니어로 보강하지 않은 집성재보다 월등히 높은 강도를 나타내었다. 본 연구결과 알맞은 라미나 조합으로 부재를 제작한다면 소경재의 활용이 가는하고 부가가치를 높일 수 있을 것으로 생각된다.

• 근관절건강학회지
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• 제4권1호
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• pp.48-60
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• 1997

This study was undertaken to identify the musculotendinous problems and contributing factors to those problems In students majoring in musical instruments in Korea. The data were collected from March 2, 1996 to March 31, 1996 from 261 music students in various geographical areas. The data were analyzed for descriptive statistics, t-test, chi-square using SPSS $PC^+$ program. The results of this study were as follows : 1. In a questionnaire survey of 261 music students, one hundred twenty five(47.9%) reported having had various musculotendinous symptoms. Twenty seven students among the those who had previous symptoms(21.9%) reported the present symptoms. 2. The experience rates of musculotendinous problems in keyboard players, string players and woodwind players were 50.3%, 48.2%, 33.3% respectively. 3. Most of the students practiced most intensively during their high school years and the musculotendinous symptoms began at the same period. 4. Pain, tenderness and stiffness were the most common symptoms, while paresthesia and motor dysfunction were rare. This indicates that most players had muscle tendinous overuse, while small number had nerve entrapment and motor dysfunction. 5. In past and present symptoms, string players experienced musculotendinous symptoms mainly in both sides of shoulders, lumbar area, left finger, and left wrist, while keyboard players experienced more symptoms in the right wrist, shoulder, fingers than left side. 6. The major contributing factors to the symptoms were weight of instrument, types of instruments, types of daily activities, duration of practice, and playing technique. 7 The most frequent treatment modalities for the symptoms were acupuncture or moxibustion, other alternative therapy such as heat compress and massage. Through this study it was found that the musculotendinous problems might be increased along with their career, due to lack of knowledge about preventive measures and patterns of health behavior seeking alternative modalities rather than professional consultation. Therefore, preventive measures that focus on playing habits such as duration of practice, frequency of rest and position while playing should be developed and taught to the students, their parents, and music educators. Doctors who are interested in this area should attempt to correct the position and posture while playing of the posture. And measures for reduction of loading of instrument weight should also be developed.