• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.333-338
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• 2009

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

• Archives of Plastic Surgery
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• 제33권1호
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• pp.124-126
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• 2006

Pachydermodactyly is a rare distinct form of fibromatosis characterized by acquired, asymptomatic dense fibrosis and fibroblastic proliferation around one or more proximal interphalangeal joints. Intralesional triamcinolone injection may be helpful in improving the clinical appearance. A 20-year-old unemployed female patient gave a four years history of progressive swelling of the fingers affecting predominantly the proximal interphalangeal joints of index fingers of left hand and index, middle fingers of right hand. There was no pain and tenderness. Physical examination, complete blood count, antinuclear antibody, rheumatoid factor were unremarkable and radiograph of both hands showed soft tissue swelling only without bony abnormality. We excised the redundant soft tissue from the both sides of proximal interphalangeal joint with longitudinal elliptical fashion. After operation, the fingers of the patient showed marked improvement cosmetically. There were no motor or sensory changes. Pachydermodactyly was first reported in 1996 in Korea. Histologic features include an increased dermal accumulation of collagen and occasionally an increased number of fibroblast. We report for one patient with pachydermodactyly treated with longitudinal elliptical excision and obtained an improvement of clinical appearance.

• 대한인간공학회지
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• 제29권5호
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• pp.727-734
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• 2010

The objective of this study was to evaluate the resting postures of the fingers and wrist based on the biomechanical model in term of hand posture (neutral, pronation, and supination) and gender (male and female). The finger and wrist joint angles were measured with VICON motion system. The EMG system was used to examine the muscle activity in the resting condition. The participants consisted of twenty male and twenty female students. The angles of the fingers and wrist were analyzed by means of the coordinate system associated with the International Society of Biomechanics. Hand posture was significant for all the joints. The finger and wrist joint flexed in supination more than in neutral and pronation. The hand posture and gender were not significant for the results of muscle activity, but it had larger muscle activities in supination more than in neutral and pronation.

• 로봇학회논문지
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• 제7권1호
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• pp.1-8
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• 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.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 대한인간공학회지
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• 제30권6호
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• pp.749-755
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• 2011

Objective: The purpose of this study is to assess the reducing effect of workload on developed electro-motion scissors. Methods: To achieve this, we measured the pressure distribution, Joint angle of fingers and JSI(Job Strain Index) for electro-motion scissors and hand-operated scissor in objective assessment and surveyed the uncomfortable degree in subjective assessment. Results: As a result, The peak of pressure in the electro-motion scissors was generally lower than the hand-operated scissors. JSI and overall joint angle of fingers for the electro-motion scissors were remarkably lower than the hand-operated scissors. Also, the subjective uncomfortable degree showed that the uncomfortable point of electro-motion scissors were generally lower than the hand operated scissors. Conclusion: The impact of reducing the work load as well as distributing the pressure around the hand by using electro-motion scissors during grapes pinching was confirmed.

• Archives of Reconstructive Microsurgery
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• 제10권2호
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• pp.143-148
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• 2001

전북대학교병원 정형외과에서 우측 제 1-5 수지가 모두 절단된 35세 남자에서, 우 수부 무지는 포장주위 피판(wrap around flap)시 제 1 배부 중수골동맥(the first dorsal metacarpal artery)의 고유 동맥(proper digital artery)을 제 1 배부 중족골 동맥(the first dorsal metatarsal artery)에, 두 정맥 분지(tributary of the cephalic vein)는 대 복재 정맥의 분지 (tributary of the greater saphenous vein)에 각각 문합하였고, 수부의 요골신경의 감각 분지는 거상된 포장 주위 피판의 심부비골 신경(deep peroneal nerve)에 신경 외막 봉합술을 시행하였다. 제 2, 3 수지 재건술에서는, 우 2, 3 족지의 족 배 동맥을 요골 동맥에, 대, 소 복재 동맥의 분지를 두 개의 두 정맥 분지에 각각 단-단 문합하였으며, 우 제 2, 3 족지의 표재 비골 신경을 요골 신경 분지에 신경 외막 봉합하였고, 동시에 우 제 2, 3족지의 지골 신경을 우 2, 3 수지의 지골 신경에 신경 외막 봉합하고 7년 추시하였으며, 우 수부 무지와 제 2, 3수지를 이용한 식사하기, 글씨 쓰기 그리고 양말 신기 등의 동작이 가능하였다.

• 전자공학회논문지C
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• 제34C권9호
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• pp.68-76
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• 1997

This paper presents a system which recognizes dynamic hand gestures for virtual reality(VR). A dynamic hand gesture is a method of communication for a computer and human who uses gestures, especially both hands and fingers. Since the human hands and fingers are not the same in physical dimension, the same form of a gestrue produced by two persons with their hands may not have the same numerical values which are obtained through electronic sensors. In this paper, we apply a fuzzy min-max neural network and feature analysis method using fuzzy logic for on-line pattern recognition.

• 전자공학회논문지C
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• 제34C권2호
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• pp.61-70
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• 1997

Human-hand gestures have been used a means of communication among people for a long time, being interpreted as streams of tokens for a language. The signed language is a method of communication for hearing impaired person. Articulated gestures and postures of hands and fingers are commonly used for the signed language. This paper presents a system which recognizes the korean sign language (KSL) and translates the recognition results into a normal korean text and sound. A pair of data-gloves are used a sthe sensing device for detecting motions of hands and fingers. In this paper, we propose a dynamic gesture recognition mehtod by employing a fuzzy feature analysis method for efficient classification of hand motions, and applying a fuzzy min-max neural network to on-line pattern recognition.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.341-345
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• 2009

We present an augmented reality (AR) application for cell phone where users put a virtual pet on their palms and play/interact with the pet by moving their hands and fingers naturally. The application is fundamentally based on hand/palm pose recognition and finger motion estimation, which is the main concern in this paper. We propose a fast and efficient hand/palm pose recognition method which uses natural features (e.g. direction, width, contour shape of hand region) extracted from a hand image with prior knowledge for hand shape or geometry (e.g. its approximated shape when a palm is open, length ratio between palm width and pal height). We also propose a natural interaction method which recognizes natural motion of fingers such as opening/closing palm based on fingertip tracking. Based on the proposed methods, we developed and tested the AR application on an ultra-mobile PC (UMPC).