• Journal of the Korean Society for Precision Engineering
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• v.26 no.1
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• pp.89-96
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• 2009

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

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.753-761
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• 2012

This paper describes development of a hand and finger fixing system for the rehabilitation exercise of patient's fingers. In order to exercise the finger rehabilitation using a finger rehabilitation robot, a patient's hand or fingers are fixed safely. In this paper, The hand and fingers fixing system can safely fix stroke patient's hand and fingers by pressing with force control system. The characteristic test of the system was carried out. It is thought that the system could be used for fixing their fingers in stroke patient's finger rehabilitation exercise.

• Journal of Periodontal and Implant Science
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• v.30 no.2
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• pp.455-472
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• 2000

Instrumentation for periodontal therapy may induce marginal damage which increases plaque accumulation and result in periodontal disease. But there have not been many reports of instrumentations on the artificial crown so far. Therefore this study is conducted to evaluate the effects of various repeated instrumentations on the porcelain crown marginal portion. Of the 10 extracted periodontally diseased maxillary first premolars, were 12 proximal surface used in this study. The finishing line of the preparation was placed on the root surface below CEJ and then the crown was cast and cemented in usual manner. Every 4 surfaces of the 3 instruments-curet, ultrasonic scaler, and ultrasonic curet- is used. and four samples used in each instruments. The relevant procedures and measurements were repeated 3 times in each surfaces. Marginal gap is measured by the microscope and surface roughness, Scannig Probe Microscope. Measurements are made at 5 points in each surfaces, making 20 points in each instrument. The results evaluated statistically were as follows 1. As instrumentation was repeated, both marginal gap and roughness were increased in all group 2. In the hand curet, marginal gap was increased every instrumentation and roughness was increased after second. 3. In the ultrasonic scaler, both marginal gap and roughness were increased every instrumentation. 4. In the ultrasonic curet, marginal gap was increased after third instrumentation and roughness was increased after second. 5. Marginal gap and roughness used by the ultrasonic curet were lower than the others and no difference was seen between the hand curet and ultrasonic scaler From the results of this study, the ultrasonic curet was useful in some aspect, but careful instrumentation was needed. Furthermore it was important to minimize the instrumentation through complete periodontal therapy before setting and adequate plaque control.

• Restorative Dentistry and Endodontics
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• v.7 no.1
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• pp.17-24
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• 1981

The purpose of this study is to compare the shape of the apical regions of root canals after instrumentation by various enlarging instruments. 120 extracted, single-rooted human teeth were seperated into 4 experimental groups. Each group provided 30 teeth for experimental use. Group 1 root canals instrumented by the hand-operated Reamer. Group 2 root canals instrumented by the hand-operated H-file. Group 3 root canals instrumented by the hand-operated K-file. Group 4 root canals instrumented by the automated Giromatic file. The results were as follows: 1. The degree of the roundness of the apical regions of root canal walls: 1) Hand-operated instruments were superior to the automated Giromatic file. 2) The Reamer was the most effective instrument among hand-operated instruments 3) There was little difference between the H-file and the K-file. 2. The degree of the smoothness of the apical regions of root canal walls: 1) Root canal walls instrumented by the hand-operated Reamer, H-file and, K-file were generally smooth, and there was little difference among them. 2) Root canal walls instrumented by the automated Giromatic file showed many irregular canal walls. 3. The existance of organic debris in the apical regions of root canals: All organic debris is not removed from root canals, and there was little difference between hand-operated instruments and the automated Giromatic instrument in removing organic debris.

• Journal of Periodontal and Implant Science
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• v.30 no.2
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• pp.443-455
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• 2000

The aim of periodontal therapy is a removal of a bacterial plaque butthe instrumentation for plaque control has two nature : removal of a bacterial plaque and increase of surface roughness. Complication of instrumentation is enable to damage to the root surface and artificial crown. Therefore this study was conducted to evaluate the effects of repeated instrumentation on the marginal portion of artificial crown. Fifteen proximal surfaces of ten extracted periodontally diseased maxillary first molars were used. The finish line was placed on the root surface, and then the crown was casted and cemented in usual manner. Three kinds of instruments: hand curet, ultrasonic scaler, and ultrasonic curet were used. After instrumentation, final polishing was done with rubber cup and pumice. And surface changes were evaluated by stereomicroscope and scannig probe microscope. Roughness was increased after instrumentation in all groups, and was decreased after polishing except ultrasonic scaler group. Roughness in the ultrasonic scaler group was lower than others, and roughness after polishing in the hand curet group was lower than others. These results indicate that polishing procedure is recommended, because periodontalinstruments increase the surface roughness and induce the irreversible damage to the marginal portion.

• Restorative Dentistry and Endodontics
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• v.24 no.3
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• pp.503-510
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• 1999

The purpose of this study was to evaluate the amount of transportation of original canal, zip formation, permanent deformation and fracture of instruments after canal enlargement. In this study, the 60 resin blocks that have curved canals were randomly divided into 3 experimental groups with 20 teeth each according to instrument types and filling methods for canal enlargement. The curved canals of each experimental groups were enlarged to No 40 ISO size with the K-flexo stainless steel file (Group 1), Engine-driven Ni-Ti Profile new series(Group 2) and Engine-driven Ni-Ti Quantec 2000 series(Group 3) according to the manufacturer's recommendation. Pre- and postoperative X-rays were taken at same position and the films were scanned and the canal images were traced to determine the canal curvature according to the method of Schneider. The amount of reduction in canal curvature were calculated between pre- and postoperative X-rays. In addition to zip formation, permanent deformation and fracture of instruments were examined after canal enlargement. The results were as follows : 1. All experimental groups showed some loss of canal curvature after instrumentation. There was a significant change in curvature between before and after instrumentation in each group(p<0.001). 2. Engine-driven Ni-Ti instrumentations resulted in an average loss of curvature of 2.36 degrees for Profile new series, 3.43 degrees for Quantec series, and hand instrumentation showed an average loss of curvature of 6.48 degrees for K-flexo file. There was a statistical significant difference between hand instrumentation and engine-driven Ni-Ti instrumentations(p<0.05). But there was no statistical difference between Profile new series and Quantec series. 3. There were many apical zip formations in group 1(Hand instrumentation). But there were no apical zip formations in group 2,3(Engine-driven Ni-Ti instrumentation). 4. The instrument deformation occured 9 cases in group 1(K-flexo file), 2 cases in group 2(Profile new series) and 3 cases in group 3(Quantec) after instrumentation. And the instrument fracture occured 1 case in each group. The results showed that the engine-driven Ni-Ti instruments, if we use carefully according to manufacturer's recommendations, can be use effectively for instrumenting the curved root canals in case of the MAF was over size 40.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• The Journal of the Korean dental association
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• v.35 no.10 s.341
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• pp.762-767
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• 1997

• Journal of Periodontal and Implant Science
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• v.51 no.3
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• pp.147-162
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• 2021

Purpose: This systematic review and meta-analysis was conducted to assess the effects of glycine powder air-polishing (GPAP) in patients during supportive periodontal therapy (SPT) compared to hand instrumentation and ultrasonic scaling. Methods: The authors searched for randomized clinical trials in 8 electronic databases for relevant studies through November 15, 2019. The eligibility criteria were as follows: population, patients with chronic periodontitis undergoing SPT; intervention and comparison, patients treated by GPAP with a standard/nozzle type jet or mechanical instrumentation; and outcomes, bleeding on probing (BOP), patient discomfort/pain (assessed by a visual analogue scale [VAS]), probing depth (PD), gingival recession (Rec), plaque index (PI), clinical attachment level (CAL), gingival epithelium score, and subgingival bacteria count. After extracting the data and assessing the risk of bias, the authors performed the meta-analysis. Results: In total, 17 studies were included in this study. The difference of means for BOP in patients who received GPAP was lower (difference of means: -8.02%; 95% confidence interval [CI], -12.10% to -3.95%; P<0.00001; I²=10%) than that in patients treated with hand instrumentation. The results of patient discomfort/pain measured by a VAS (difference of means: -1.48, 95% CI, -1.90 to -1.06; P<0.001; I²=83%) indicated that treatment with GPAP might be less painful than ultrasonic scaling. The results of PD, Rec, PI, and CAL showed that GPAP had no advantage over hand instrumentation or ultrasonic scaling. Conclusions: The findings of this study suggest that GPAP may alleviate gingival inflammation more effectively and be less painful than traditional methods, which makes it a promising alternative for dental clinical use. With regards to PD, Rec, PI, and CAL, there was insufficient evidence to support a difference among GPAP, hand instrumentation, and ultrasonic scaling. Higher-quality studies are still needed to assess the effects of GPAP.

• Restorative Dentistry and Endodontics
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• v.19 no.1
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• pp.97-105
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• 1994

The purpose of this study was to evaluate the smear layer removing efficiency of two root canal preparation techniques. Twelve single-rooted teeth were used in two groups of six each. Group 1 was biomechanically prepared by hand using a K-file with a high volume of normal saline irrigation. Group 2 was. prepared by using ultrasonically activated K-file with a constant high volume of normal saline irrigation. After the experimental procedures, each root was split saggitally. The removing efficiency of the preparation methods were assessed in terms of surface condition of the canal walls at three levels, those coronal, middle, and apical thirds. On the basis of remaining debris, presence of smear layer, and patency of dentinal tubules, each canal was evaluated according to a scale form 0 to 2. A statistical analysis was used to indicated any significant differences in surface condition between the two methods. There was no statistical significance between hand instrumentation and ultrasonic instrumentation at the cervical third but removing efficiency of ultrasonic instrumentation was superior. No statistically significant differences were obhserved for middle or apical third.