• 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.

• Archives of Reconstructive Microsurgery
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• 제7권2호
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• pp.122-128
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• 1998

Radial forearm flap is one of the most useful skin flap in hand reconstructuion with distally based reverse pedicled or free vascularized fashion. Athors modified that flap into reverse pedicled and free vascularized flap which has advantages of both methods. The modification composed with harvesting flap on recipient side distal forearm just as free flap, than apply it as reverse distal pedicled flap fashion with microvascular anastomosis with distal vascular stump of donor radial vessels. We underwent this method in 5 cases in finger reconstruction from 1996, all of the cases had sucessful results. The advantages of this method are: 1. Thin flap which is compatible to finger skin can harvest from distal forearm with very long vascular pedicle that can be passed under the subcutaneous tunnel which avoid additional skin incisions on the hand. 2. The vessels of donor site and recipient site are same vessel in effected side of forearm, which can preserve contralateral side forearm and hand keep intact. 3. The flap can cover the defects on distal portion of the fingers which is difficult in conventional reversed radial forearm pedicled flap because of limited mobilization of flap due to limitation of pedicle length reach to tip of the fingers.

• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.70-78
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• 2005

This paper presents hybrid control of displacement and force in a Medical Tele-Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele-Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele-analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.

• 한국정보통신학회논문지
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• 제21권3호
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• pp.636-642
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• 2017

본 논문은 동심원 확장 및 추적 기법을 이용하여 손동작을 인식하는 알고리즘을 제안한다. 제안하는 알고리즘은 웹 카메라로부터 영상을 입력받아 전처리 과정을 통해 손 영상에 대한 ROI를 추출한 뒤 동심원을 사용하여 펴진 손가락의 개수뿐만 아니라 손가락의 끝점, 손가락의 기저의 위치정보, 손가락 사이의 각도를 추출하여 HCI분야에서 활용할 수 있는 다양한 입력 방법을 제공한다. 또한 이 알고리즘은 이미지 전체의 화소를 참조하는 래스터 스캔방식과 비교하여 동심원을 구성하는 화소만을 참조함으로서 계산복잡도를 줄일 수 있다. 제안하는 알고리즘은 9가지의 손동작을 평균 90.7%의 인식률과 평균 78ms의 수행속도를 보여줌을 확인했고, 가상현실, 증강현실 및 혼합현실 그리고 HCI 분야 전반의 입력수단으로의 적용가능성을 확인하였다.

• 로봇학회논문지
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• 제10권3호
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• 대한인간공학회지
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• 제18권1호
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• pp.55-69
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• 1999

It is very common to use the powered hand tools to enhance the productivity in various types of industry. But the use of the powered hand tools could cause health problems such as cumulative trauma disorders and vibration white fingers. In this study. the effects of hand-arm vibration and anatomical hand position on localized muscle fatigue were analyzed. Eight healthy male subjects volunteered for the study. Vibration frequencies of 0, 40, 80, 100, 150, and 200Hz and hand position of flexion and ulnar deviation were selected for the independent variables of the experiment. Median frequency shifting was used as a dependent variable. The results indicated that at the vibration frequency of 40Hz and accelation of 2g, the muscle fatigue was the greatest. For the hand position. there was significant difference between neutral and flexion. and neutral and ulnar deviation, but no difference between flexion and ulnar deviation. These results could be applied in designing powered hand tools to minimize the health problems.

• 로봇학회논문지
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• 제19권1호
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Archives of Plastic Surgery
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• 제39권4호
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• pp.397-403
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• 2012

Background Nonabsorbable sutures are favorable for repairing flexor tendons. However, absorbable sutures have performed favorably in an animal model. Methods Two-strand sutures using the interlocking modified Kessler method with polydioxanone absorbable sutures 4-0 were used to repair completely ruptured flexor tendons in 55 fingers from 41 consecutive patients. The medical records of average 42 follow up weeks were analyzed retrospectively. The data analyzed using the chi-squared test, and Fisher's exact test was used for postoperative complications. The results were compared with those of other studies. Results Among the index, middle, ring, and little fingers were injured in 9, 17, 16, and 13 fingers, respectively. The injury levels varied from zone 1 to 5. Of the 55 digits in our study, there were 26 (47%) isolated flexor digitorum profundus (FDP) injuries and 29 (53%) combined FDP and with flexor digitorum superficialis injuries. Pulley repair was also conducted. Concomitant injuries of blood vessels and nerves were found in 17 patients (23 fingers); nerve injuries occurred in 5 patients (10 fingers). Two patients had ruptures (3.6%), and one patient had two adhesions (3.6%). Using the original Strickland criteria, all the patients were assessed to be excellent or good. Also, fibrosis and long-term foreign body tissue reactions such as stitch granuloma were less likely occurred in our study. Compared to the Cullen's report that used nonabsorbable sutures, there was no significant difference in the rupture or adhesion rates. Conclusions Therefore, this study suggests that appropriate absorbable core sutures can be used safely for flexor tendon repairs.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.