• 한국전문물리치료학회지
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• 제25권3호
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• pp.51-59
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• 2018

Background: Despite muscle latency times and patterns were used as broad examination tools to diagnose disease and recovery, previous studies have not compared the dominant arm to the non-dominant arm in muscle latency time and muscle recruitment patterns during reaching and reach-to-grasp movements. Objects: The present study aimed to investigate dominant and non-dominant hand differences in muscle latency time and recruitment pattern during reaching and reach-to-grasp movements. In addition, by manipulating the speed of movement, we examined the effect of movement speed on neuromuscular control of both right and left hands. Methods: A total of 28 right-handed (measured by Edinburgh Handedness Inventory) healthy subjects were recruited. We recorded surface electromyography muscle latency time and muscle recruitment patterns of four upper extremity muscles (i.e., anterior deltoid, triceps brachii, flexor digitorum superficialis, and extensor digitorum) from each left and right arm. Mixed-effect linear regression was used to detect differences between hands, reaching and reach-to-grasp, and the fast and preferred speed conditions. Results: There were no significant differences in muscle latency time between dominant and non-dominant hands or reaching and reach-to-grasp tasks (p>.05). However, there was a significantly longer muscle latency time in the preferred speed condition than the fast speed condition on both reaching and reach-to-grasp tasks (p<.05). Conclusion: These findings showed similar muscle latency time and muscle activation patterns with respect to movement speeds and tasks. Our findings hope to provide normative muscle physiology data for both right and left hands, thus aiding the understanding of the abnormal movements from patients and to develop appropriate rehabilitation strategies specific to dominant and non-dominant hands.

• 제어로봇시스템학회논문지
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• 제16권9호
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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.

• 국제물리치료학회지
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• 제2권2호
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• pp.308-317
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• 2011

The purpose of this study was to investigate the influence of handicraft activities on hand promptness and grasp in the elderly. Subjects were comprised of 14 senior citizens between the ages of 70-85, with 7 subjects in the experiment group and 7 in the control group. Subjects in the experiment group practiced various handicrafts twice a day, while those in the control group did not participate in any special activity. The Jebsen Taylor Hand Function Test was used to evaluate the results, while a dynamometer and pinch gauge were used to measure hand promptness and grasp. The 7 senior citizens in the experiment group were able to increase their hand promptness and grasping skills. Conclusively, handicrafts can help improve hand promptness and grasp in the elderly. Furthermore, the development and improvement of such skills can have a positive influence on the daily lives of senior citizens. Such skills are expected to improve the overall neuro-function in the elderly population.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1171-1177
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• 2001

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. Through various assembly tasks, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. Also, we show that some of coupling stiffness elements in the operational space cannot be planned arbitrarily. As a result it is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• 대한기계학회논문집A
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• 제40권10호
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• pp.843-849
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• 2016

과소 구동기구 로봇 핸드에서 최소한의 구동기만으로 적응 파지 기능을 구현할 수 있는 것으로 알려져 있다. 이러한 연구결과를 기반으로 새로운 의수의 설계를 제안하였다. 또한 다양한 크기의 원통형, 구형, 사각 기둥 형 물체에 대한 의수의 파지 성능을 평가하는 방법을 제시하였다. 중요 설계 인자들이 파지 성능에 미치는 영향을 실험계획법으로 평가하고 개선된 설계 방안을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.78-78
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• 2000

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands, To be specific, some of coupling stiffness elements cannot be planned arbitrary. Through T-type assembly task, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. It is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• 한국정밀공학회지
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• 제14권4호
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• 대한감각통합치료학회지
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• 제1권1호
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• pp.9-16
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• 2003

Objective : The experiment consists of measuring functional grasp ability of a child suffering from sensory defense disability of the hands as the child is treated with sensory integration therapy. Methods : We treated two-year-old child with developmental disability to set up the reversal design(ABAB design). We used treatment equipments, free activities, and toys for sensory integration therapy. Results : A child's functional grasp ability did not show anything before the sensory integration therapy, however, after the sensory integration was applied during the first treatment(Treatment 1), the five minutes before the treatment, it averaged 1.87 times(ranges=0 to 5 times), the five minutes after the treatment, it averaged 1.25 times(ranges=0 to 8 times) showing an increased. After ending the sensory integration therapy, the functional grasp ability averaged 2.5 times before the therapy and 4 times after the therapy, which showed a totally different tendency, when we reapplied the treatment during the second treatment(Treatment 2), it averaged 2.4 times(ranges=1 to 4 times) before the treatment, and it averaged 5.3 times(ranges=4 to 6 times) after the treatment, which showed a big improvement. Conclusion : The sensory integration therapy brought an increase in functional grasp ability along with improvement in daily life functions of the child. For this result, there should be more research to see more effects and results to help those in need.

• 한국항공우주학회지
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• 제47권12호
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• pp.856-864
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• 2019

무장할당(Weapon-Target Assignment, WTA) 문제는 다수 위협과 다종의 무장을 효과적으로 할당하는 문제이다. 실제 급변하는 교전환경에서의 무장할당은 위협과 무장의 특성과 위협-무장 선정에 따른 영향성을 모두 고려해야한다. 본 논문에서는 동적 무장할당 문제에서의 최적해 도출을 위해 메타휴리스틱 방법의 일종인 Greedy Randomized Adaptive Search Procedure (GRASP) 알고리즘 적용 방안을 제안한다. 먼저 동적 무장할당 문제를 정의하고 알고리즘 적용을 위해 수학적 모델을 정식화한다. 무장할당 전략을 수립하기 위하여 목적함수를 정의하고 시간변화를 고려한 구속조건을 설정한다. 이를 바탕으로 GRASP 알고리즘을 동적 무장할당 문제에 적용한다. 교전 시뮬레이션을 통해 정식화한 무장할당 문제의 최적해 특성을 분석하며, Monte-Carlo 시뮬레이션을 통해 알고리즘 성능 검증을 수행한다.

• 대한통합의학회지
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• 제4권2호
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• pp.77-88
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• 2016

Purpose : The purpose of this study was to explore an effect exerted to non-affected hand and affected hand of patients by performing training of chopsticks and grasp strength that are helpful to dexterity and grasp strength of hand together with training method of joint exercise, muscle strength build-up training, delicate hand function training. Method : By targeting 30 normal adult male/females engaged in K university, Busan for one month on April, 2015, 10 persons of hand function build-up training group, that of dexterity training group and 10 persons of control group were randomly selected. For hand function build-up training group, chopsticks training in parallel with total 20 times of grasp strength training for 4 weeks including 5 minutes of dominant hand grasp strength training, 5 minutes of non-dominant hand grasp strength training, 15 minutes of chopsticks training was performed based on 25 minutes/one time, 5 times a week. Result : First, In a comparison of dexterity of both hands by each group depending on training period, hand function build-up group and dexterity training group were represented to be effective compared with control group. Secondly, In a comparison of manipulatory ability of both hands by each group depending on training period, hand function build-up group and dexterity training group were represented to be effective compared with control group. Conclusion : It is considered that diversified and broad research covering patients with musculoskeletal disease and nervous system-related disease would be performed by securing far more test subjects after comparing a correlation between dexterity training and hand function training.