• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1014-1020
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• 2011

This presents a motion and force estimation system of human fingers by using an Electromyography (EMG) sensor module and a data glove system to be proposed in this paper. Both EMG sensor module and data glove system are developed in such a way to minimize the number of hardware filters in acquiring the signals as well as to reduce their sizes for the wearable. Since the onset of EMG precedes the onset of actual finger movement by dozens to hundreds milliseconds, we show that it is possible to predict the pattern of finger movement before actual movement by using the suggested system. Also, we are to suggest how to estimate the grasping force of hand based on the relationship between RMS taken EMG signal and the applied load. Finally we show the effectiveness of the suggested estimation system through several experiments.

• Journal of Biomedical Engineering Research
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• v.40 no.3
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• pp.116-124
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• 2019

The rehabilitation training robots for treating the upper limbs of stroke patients were mainly focused on the upper proximal treatment of it, but recently studies of the distal parts of the upper limbs for rehabilitation of the hand is making some progress even though it is still a small number so far. In this paper, we present the hand robot for the rehabilitation training of stroke patients that is the fingertip contact-typed mechanism, and it has also equipped with the wrist rehabilitation unit to be worked like human hand that enables any movements through mutual cooperation by fingers while picking up or grasping objects. The robot that is presented for this purpose supports the movement of fingers with 5-DoF and the wrist with 3-DoF that moves independently, and operates with a structure that allows the joints of the wrist and fingers to be collaborated organically together to each other. Also, hereby the simulation and evaluation test on its robot mechanism are performed to ensure that fingers with 5-DoF and the wrist with 3-DoF of the serial kinematical mechanism are designed to comply with or exceed ROM for ADL.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.775-776
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• 2012

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.833-839
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• 2010

In this paper, a novel 1 DOF hand rehabilitation robot is proposed in consideration of ADL training for stroke patients. To perform several ADL trainings, the proposed robot can move the thumb part and the part of 4 fingers simultaneously and realize the full ROM (Range of Motion) in grasp. Based on these characteristics, the proposed robot realizes several types of grasp such as cylindrical grasp, lateral grasp, and pinch grasp by using a passive revolute joint that can change the thumb movement direction. The movement of the thumb is driven by a cable mechanism and the part of 4 fingers is moved by a four-bar linkage mechanism.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.53-60
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• 2019

Objective: The purpose of this study was to investigate the differences of smoothness and coordination of the fingers and upper extremities between skilled and non-skilled players during receiving the basketball. Method: Ten male recreational basketball players (age: $23.2{\pm}2.7yrs.$, career: $8.6{\pm}1.6yrs.$, height: $177.3{\pm}6.0$, weight: $72.9{\pm}8.5kg$) careering over five years and ten non-skilled males (age: $27.3{\pm}1.5yrs.$, height: $173.7{\pm}5.6$, weight: $73.2{\pm}12.6kg$) were participated in this study. Then, participants were asked to perform basketball receiving movement for ten times. The receiving movements were recorded by eight infrared cameras (Oqus 300, Qualisys, Sweden). The collected rad data were calculated to duration of basketball receiving, Jerk-Cost, CRP and CRP variability. Results: The CRP of MCP-Wr, Wr-El in skilled group were greater than non-skilled group (p<.05). The CRP variability of El-Sh in non-skilled group was greater than skilled group (p<.05). Conclusion: These results suggest that skilled players perform more effective movement for impact absorption from the basketball. Moreover, the skilled players have consistent movement patterns during basketball performance. Lastly, it is important to train finger sensation and cognitive ability of thrown basketball from the passer.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.808-811
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• 2009

Robovie-R2 [1], developed by ATR, is a 110cm high, 60kg weight, two wheel drive, human like robot. It has two arms with dynamic fingers. It also has a position sensitive detector sensor and two cameras as eyes on his head for recognizing his surrounding environment. Recent years, we have carried out a project to integrate new functions into Robovie-R2 so as to make it possible to be used in a dining room in healthcare center for helping serving meal for elderly. As a new function, we have developed software system for adaptive movement control of Robovie-R2 that is primary important since a robot that cannot autonomously control its movement would be a dangerous object to the people in dining room. We used the cameras on Robovie-R2's head to catch environment images, applied our original algorithm for recognizing obstacles such as furniture or people, so as to control Roboie-R2's movement. In this paper, we will focus our algorithm and its results.

• The Journal of Korean Physical Therapy
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• v.21 no.2
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• pp.9-14
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• 2009

Purpose: This study examined the effect of constraint-induced movement therapy (CIMT) on improving the hand function in hemiplegic side. Methods: Ten subjects without a control group were given CIMT to the hemiplegic side for 3 weeks. The effects of their hand function and sensibility were examined using a MAL and two point discrimination test. Repeated ANOVA was carried out for an analysis of the effects of the application of CIMT before and after treatment. Results: The participants showed significant improvement in their functional aspect with CIMT while there were no significant changes in the time domain variables. There was significant improvement in the quantitative and qualitative aspect of MAL, as well as significant improvement in the two-point discrimination function in all fingers. Conclusion: CIMT can enhance the motor function and sensory function of the hand in hemiplegic patients.

• Journal of Sensor Science and Technology
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• v.21 no.3
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• pp.192-197
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• 2012

This paper describes the control of the hand fixing system attached to the finger rehabilitation robot for the rehabilitation exercise of patient's fingers. The finger rehabilitation robot is used to exercise the finger rehabilitation, and a patient's hand is safely fixed using the hand fixing system. In this paper, the hand fixing system was controlled with PD gains to fix a palm of the hand, and the characteristic test for the hand fixing system was carried out to sense the fixed hand movement of the front and the rear, that of the left and the right, and that of the upper. It is thought that the hand fixing system could safely fix the hand, and the movement of the fixed hand could be perceived using the five-axis force/moment sensor attached to the hand fixing system.

• Journal of the Korea Computer Graphics Society
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• v.21 no.5
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• pp.29-36
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• 2015

Human fingers are essential parts of the body that perform complex and detailed motion. Expression of natural finger motion is one of the most important issues in character animation research. Especially, keyboard typing animation is hard to create through the existing animation pipeline because the keyboard typing typically requires a high level of dexterous motion that involves the movement of various joints in a natural way. In this paper, we suggest a method for the generation of realistic keyboard typing motion based on physics simulation. To generate typing motion properly using physics-based simulation, the hand and the keyboard models should be positioned in an allowed range of simulation space, and the typing has to occur at a precise key location according to the input signal. Based on the observation, we incorporate natural tendency that accompanies actual keyboard typing. For example, we found out that the positions of the hands and fingers always assume the default pose, and the idle fingers tend to minimize their motion. We handle these various constraints in one solver to achieve the results of real-time natural keyboard typing simulation. These results can be employed in various animation and virtual reality applications.

• Journal of the Ergonomics Society of Korea
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• v.24 no.4
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• pp.47-53
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• 2005

This study aim to investigate the effects of supply of oxygen enhances cerebral activation through increased activation in the brain and using a 3 Tesla fMRI system. Five volunteers (right handed, average age of 21.3) were selected as subjects for this study. Oxygen supply equipment that provides 30% oxygen at a constant rate of 15L/min was given using face mask. A 3 Tesla fMRI system using the EPI BOLD technique, and three-pulse sequence technique get of the true axial planes scanned brain images. The author can get the perfusion images of the brain by oxygen inhalation with susceptibility contrast EPI sequence at the volunteers. Complex movement consisted of a finger task in which subjects flexed and extended all fingers repeatedly in union, without the fingers touching each other. Both task consisted of 96 phases including 6 activations and rests contents. Post-processing was done on MRDx software program by using cross-correlation method. The result shows that there was an improvement in performance and also increased activation in several areas in the oxygen method. These finding demonstrates that while performing cognitive tasks, oxygen administration was due to increase of cerebral activation.