• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.12
• /
• pp.142-147
• /
• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• Proceedings of the ESK Conference
• /
• 1992.10a
• /
• pp.46-53
• /
• 1992

Finger movements in the sagittal plane mainly consist of flexion and extension about the metacarpophalangeal(MCP) and proximal interphalangeal(PIP) joints. A kinematic finger model was developed with the assumption of constant tendon moment arms. Equations of static equilibrium were derived for the finger model using the principle of virtual work. Equations of static equilibrium for the finger model were indeterminate since only three equations were available for five unknown variables(forces). The number of variables was reduced based on information on muscular activities in finger movements. Then the amounts of forces which muscles exerted to maintain static equilibrium against external loads were computed from the equilibrium equations. The muscular forces were expressed mathematically as functions of finger positions, tendon moment arms, lengths of phalanges, and the magnitude and direction of external load. The external finger strength were computed using the equations of muscular forces and anatomical data. Experiments were performed to measure finger strengths. Measurements were taken in combinations of four finger positions and four directions of force exertions. Validation of the finger models and of procedure to estimate finger strengths was done by comparing the results of computations and experiments. Significang differences were found between the predicted and measured finger strengths. However, the trends of finger strengths with respect to finger positions were similar inboth the predicted and measured. These findings indicate that the finger model and the procedure to predict finger strengths were correctly developed.

• The Journal of Korean Medicine
• /
• v.43 no.4
• /
• pp.33-51
• /
• 2022

Objectives: This study aimed to understand the current status of clinical practice patterns of Korean medicine in the treatment of degenerative arthritis of the hip and finger joints using web-based survey. Methods: An e-mail questionnaire survey was conducted with the Korean Medicine Doctor(K.M.D) registered in the Korean Medicine Association. The survey data were analyzed using Microsoft Excel. Results: Although the response rate of the survey was low, the characteristics of the respondents generally reflected the characteristics of the study population. A total of 35.2% of the respondents had heard of the guidelines; however, they did not use them for medical treatment. The reason as answered by 32.8% of the respondents was "not enough treatment time to check the manual and apply it." More than half (78.80%) answered that they were treating patients with both degenerative hip and finger arthritis; however, the average monthly number of first-time patients was ≤5. A total of 379 (60.9%) respondents answered that "acupuncture is very important," which was the only one that exceeded the majority compared to other treatments. As a result of the safety investigation, "Acupuncture, herbal medicine, cupping" were considered high in safety, while "Pharmacopuncture and Bee venom acupuncture" were considered low in safety. Conclusions: This survey helped to determine the current clinical practice patterns of Korean medicine treatments, further providing basic data for CPGs for degenerative arthritis of the hip and finger joints.

• The Journal of Korea Robotics Society
• /
• v.7 no.1
• /
• pp.1-8
• /
• 2012

A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.

• Archives of Reconstructive Microsurgery
• /
• v.11 no.1
• /
• pp.41-46
• /
• 2002

Purpose : To assess the clinical results of second toe-to-finger transfer in traumatic amputated index finger. Materials and Methods : For the clinical evaluation, we have analyzed 12 patients with ROM of finger joints, pinch power, static two point discrimination, life functional assessment, and patient's satisfaction. Results : In genral ROM was $54.4^{\circ}$ at MP joint, $17^{\circ}$ at PIP joint and $6.7^{\circ}$ at DIP joint. Pinch power was good in 3 cases, fair in 7 cases, and poor in 2 cases. Daily life activity and patient's acceptance were satisfactory. Conclusion : Although transfered toe function may be poorer than normal finger, the hand was restored to a useful, sensate and versatile functional unit.

• Anatomy and Cell Biology
• /
• v.57 no.2
• /
• pp.172-182
• /
• 2024

This study aimed to evaluate the superficial anatomy, kinesiology, and functions of the hand to reveal its morphometry and apply the findings in various fields such as prosthetic hand and protective hand support product design. We examined 51 young adults (32 females, 19 males) aged between 18-30. Hand photographs were taken, and measurements were conducted using ImageJ software. Pearson correlation analysis was performed to determine the relationship between personal information and the parameters. The results of the measurements showed the average lengths of finger segments: thumb (49.5±5.5 mm), index finger (63.9±4.1 mm), middle finger (70.7±5.2 mm), ring finger (65.5±4.8 mm), and little finger (53.3±4.3 mm). Both females and males, the left index finger was measured longer than the right index finger. The right ring finger was found to be longer than the left in both sexes. Additionally, length differences between fingers in extended and maximally adducted positions were determined: thumb-index finger (56.1±6.2 mm), index-middle finger (10.7±4.1 mm), middle-ring finger (10.8±1.4 mm), and ring-little finger (25.6±2.7 mm). Other findings included the average radial natural angle (56.4°±10.5°), ulnar natural angle (23.4°±7.1°), radial deviation angle (65.2°±8.2°), ulnar deviation angle (51.2°±9.6°), and grasping/gripping angle (49.1°±5.8°). The average angles between fingers in maximum abduction positions were also measured: thumb-index finger (53.4°±6.5°), index-middle finger (17.2°±2.6°), middle-ring finger (14.3°±2.3°), and ring-little finger (32.1°±7.0°). The study examined the variability in the positioning of proximal interphalangeal joints during maximum metacarpophalangeal and proximal interphalangeal flexion, coinciding with maximum distal interphalangeal extension movements. The focal points of our observations were the asymmetrical and symmetrical arches formed by these joints. This study provides valuable hand parameters in young adults, which can be utilized in various applications such as prosthetic design, ergonomic product development, and hand-related research. The results highlight the significance of considering individual factors when assessing hand morphology and function.

• The Journal of Korea Robotics Society
• /
• v.5 no.2
• /
• pp.102-109
• /
• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Journal of the Korea Furniture Society
• /
• v.10 no.2
• /
• pp.73-78
• /
• 1999

This paper describes the relationship between the bending strength properties of sloped finger-jointed woods and the acoustic emissions(AEs) generated during the test. Rhus verniciflua pieces were cut in sloped-finger types and glued with three kinds of adhesives(polyvinyl acetate, polyvinyl-acryl acetate and oilic urethane resin). The slope ratios of finger joints were 0, 1.0, 1.5, and 2.0. The AE cumulative event count and cumulative count were measured during the bending test. The results were as follows: The lower the bending strength(load) was, the generation time of AE event count got and the higher the increasing rate of AE event count became in the sloped finger-jointed specimens bonded with polyvinyl acetate, polyvinyl-acryl acetate oilic urethane resin adhesives. Therefore, the slope from load-AE cumulative event count was very steep. The patterns of AE event count and count were very similar. The relationship between the MOR and the AE parameter from load and AE cumulatve event count in the early stage of the sloped finger-jointed specimens bonded with polyvinyl acetate, polyvinyl-acryl and oilic urethane resin adhesives was much greater than that between the MOE and the MOR. Therefore, the AE signals obtained during bending test are useful for estimating the strength of sloped finger-jointed Rhus verniciflua specimens.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.22 no.6
• /
• pp.170-175
• /
• 2018

For the seismic performance, it is necessary to prevent the destruction of the expansion joint device due to the appropriate deformation of the expansion joint device due to the seismic force. Recently, the hinge is installed on the fingering of the expansion joint device in Korea, New products are being developed. In this paper, we have experimentally evaluated the real scale resistance of the expansion joints with rotational finger joints against load at right angle to the bridge axis. Experimental results show that the maximum horizontal displacement is about 21.1mm for conventional stretch joints and 51.00mm for seismic stretch joints. It is presumed that the existing expansion joint test specimen is resistant to the load in a direction perpendicular to the throat axis, and then the bending and shear deformation of the finger are excessively generated and the fracture phenomenon is likely to occur. On the other hand, in the case of the seismic expansion joint, the deformation of the load due to the load is absorbed by the hinge of the finger with respect to the load in the direction perpendicular to the throat, so that only horizontal deformation in the direction of load action.

• PNF and Movement
• /
• v.21 no.2
• /
• pp.171-183
• /
• 2023

Purpose: The purpose of this study was to compare universal goniometry (UG), which is commonly used in clinical practice to measure the range of motion (ROM) of finger joints with a wearable soft sensor glove, and to analyze the reliability to determine its usefulness. Methods: Ten healthy adults (6 males, 4 females) participated in this study. The metacarpophalangeal joint (MCP), interphalangeal joint (IP), and proximal interphalangeal joint (PIP) of both hands were measured using UG and Mollisen HAND soft sensor gloves during active flexion, according to the American Society for Hand Therapists' measurement criteria. Measurements were taken in triplicate and averaged. The mean and standard deviation of the two methods were calculated, and the 95% limits of agreement (LOA) of the measurements were calculated using the intraclass correlation coefficient (ICC) and Bland-Altman plot to examine the reliability and discrepancies between the measurements. Results: The results of the mean values of the flexion angles for the active range of motion (AROM) of the finger joints showed large angular differences in the finger joints, except for the MCP of the thumb. In the inter-rater reliability analysis according to the measurement method, the ICC (2, 1) value showed a low level close to 0, and the mean difference by the Bland-Altman plot showed a value greater than 0, showing a pattern of discrepancy. The 95% LOA had a wide range of differences. Conclusion: This study is a preliminary study investigating the usefulness of the soft sensor glove, and the reliability analysis showed a low level of reliability and inconsistency. However, if future studies can overcome the limitations of this study and the technical problems of the soft sensor glove in the development stage, it is suggested that the measurement instrument can show more accurate measurement and higher reliability when measuring ROM with UG.