• The Journal of Korean Physical Therapy
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• v.29 no.2
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• pp.91-94
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• 2017

Purpose: This study investigated the effects of trunk muscle activity with power grasping during one leg stance. Methods: Twenty-eight subjects participated in this study. Subjects were divided into two groups, one that performed power grasping, and another that did not. An investigator measured the activities of a subject's trunk muscle such as internal oblique (IO), external oblique (EO), erector spinae (ES), and gluteus medius (GM) while a subject was doing one leg stance. Results: An independent t-test was used to analyze trunk muscle activities with power grasping during one leg stance between the experimental group and the control group. Only the EO activity differed significantly between groups (p<0.05). Conclusion: The results indicate that one leg stance with power grasping affected trunk muscle activity. Therefore, this is a useful method for providing lumbar spine stability.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.24-27
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• 2003

This paper discusses practical strategies for transition from a pinching to a power grasping, where a multi-fingered hand mounted on a robotic arm envelops a cylindrical object on a table. When the manipulation system grasps a cylindrical object like a pen on a desk, a complete enveloping is not impossible in the initial configuration. The system firstly pinches the object only with two or three fingers and then grasp it with fingers and a palm after regrasping. In this pinching-grasping transition maneuver, human unconsciously selects proper strategy according to some conditions including object dimensions and initial pinching positions. In this paper we therefore develop six possible strategies for this pinching-grasping transition and then investigate their performances for some objects with various dimensions and various grasping positions, using numerical simulations. Based on their results, effective strategies are implemented by using a hand-arm system.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.592-600
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• 2006

The pattern recognition of the complicated grasping operation based on electroencephalography (simply named as EEG) is very helpful on realtime control of the robotic hand. In the paper, a new spectral feature analysis method based on Band Pass Filter (simply named as BPF) and Power Spectral Analysis (simply named as PSA) is presented for discriminating the complicated grasping operations. By analyzing the spectral features of grasping operations with the use of the two-channel EEG measurement system and the pattern recognition of the BP neural network, the degree of recognition by the traditional spectral feature method based on FFT and the new spectral features method based on BPF and PSA could be compared. The results show that the proposed method provides highly improved performance than the traditional one because the new method has two obvious advantages such as high recognition capability and the fast learning speed.

• Journal of the Korea Safety Management & Science
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• v.24 no.3
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• pp.47-53
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• 2022

In order to conduct a study on the importance of the wrist joint, which causes a lot of pain among middle-aged people, in relation to work related to musculoskeletal disorders, the effect of stretching on grasping power was studied. In order to compare the grasping power of the wrist for middle-aged people in their 50s, the experiment was conducted by comparing before and after the wrist joint motion stretching. According to the experimental results of wrist gripping power for the control group and the experiment group on wrist gripping power, it was investigated that stretching did not change much in increasing wrist gripping power, but stretching application had an effect on wrist gripping power. In terms of preventing musculoskeletal accidents, reducing pain due to degenerative diseases, and preventing accidents, stretching seems to have an effect when approaching, so it is considered that continuous stretching before and after work is necessary. Therefore, it is suggested that stretching time secured quantitatively through safety and health education before work is necessary.

• The Korean Journal of Rehabilitation Nursing
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• v.3 no.2
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• pp.196-211
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• 2000

The purpose of this study was to determine the effects of 5 weeks self-help management program on reducing depression, promoting Activity of Daily Livings(ADLs), Instrumental Activity of Daily Livings(IADLs), grasping power, hope and self-efficacy for post stroke patients visiting public health care centers in Seoul. This was pre-experimental study, and the subjects were 27 post stroke hemiplegic patients. The program was composed of five sessions and each session had health education on stroke, ROM exercise and recreation. Data were collected from May to November, 2000, and all subjects were asked to complete the Questionnaires, be measured vital signs and grasping power. Data were analyzed with frequency, percent, paired t-test, and Pearson's correlation coefficient using SAS(version 6.12) program. The results were as follows : 1) The scores of ADLs were increased from 27.04 to 28.22 after program, and that was statistically significant(p=.005). 2) The scores of IADLs were increased from 18.70 to 19.78 after program, and that was statistically significant(p=.004). 3) The grasping power of right hand were increased from 21.87kg to 26.93kg after program, and that was statistically significant(p=.002). But the grasping power of left hand were statistically insignificant(p=.919). 4) The scores of depression were decreased from 39.63 to 35.30 after program, and that was statistically significant(p=.030). 5) The scores of hope were increased from 30.89 to 34.15 after program, and that was statistically significant(p=.002). 6) The scores of self-efficacy were increased from 67.70 to 76.37 after program, and that was statistically significant(p=.000). According to the results of this study, the scores of Activity of Daily Livings(ADLs), Instrumental Activity of Daily Livings (IADLs), hope, and self-efficacy and the grasping power were improved and depression was reduced in post stroke patients participating in self-help management program. Therefore we recommend to use self-help management programs as a nursing intervention for the post stroke patient.

• Journal of muscle and joint health
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• v.23 no.3
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• pp.169-178
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• 2016

Purpose: The purpose of this study was to evaluate effects of a cognitive improvement program on cognition, activities of daily living (ADL), depression, life satisfaction, and grasping power in small groups. Methods: A nonequivalent control group pretest-posttest design was used. Participants were 127 elders who were never diagnosed with dementia and could read (experimental: 61, control: 66). The program was consisted of 8 sessions to improve vocabulary and writing skills and fine motor skills. Each session was applied once a week for 8 weeks. A group was consisted of less than five members. Results: Cognition (t=3.82, p<.001), depression (t=-2.24, p=.027), life satisfaction (t=2.25, p=.027), and grasping power (Rt: t=2.44, p=.016, Lt: t=2.63, p=.010) except ADL (t=-0.49, p=.622) were significantly increased in the experimental group after the cognitive improvement program compared to the control group. Conclusion: This study indicates that the cognitive improvement program was effective to improve cognition, depression, life satisfaction and grasping power. Further study is needed in order to identify continuous effects of this cognitive improvement program.

• Journal of the Korean Society of Physical Medicine
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• v.4 no.4
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• pp.209-214
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• 2009

Purpose：The purpose of this study are analysis characteristic of grasping power with each different elbow flexion degree and grasping power with each different elbow each different hand position and announcement. Methods：Measuring about 10cm wide open position with both feet for each elbow in the line positions of the $0^{\circ}$, $45^{\circ}$, $90^{\circ}$, $135^{\circ}$, and forearm position of supination, mid position, pronation is of the order. Results：The averge position of maximal grip strength was $0^{\circ}$ of elbow flexion with mid position in male and $90^{\circ}$ of elbow flexion with mid position in female. Grip strength in change of wrist position according to elbow flexion was significant difference(P<0.05). Grip strength in change of wrist position according to elbow flexion by sex was significant difference(P<0.05) Conclusion：When the elbow has flexion with $0^{\circ}$, $45^{\circ}$, $90^{\circ}$, $135^{\circ}$ then grasping power has a intimate relation with forearm position. Grasping power with forearm supination, pronation and mid position also has a intimate relation with elbow flexion.

• Journal of muscle and joint health
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• v.15 no.1
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• pp.62-72
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• 2008

Purpose: There has been a need to integrating the self-help program for arthritis with the Tai Chi for arthritis(SHTCA). The purpose of this study was to develop and to examine the effect of SHTCA for arthritis applying the nine movement Tai Chi. Method: This study was designed the pre-post test, quasi-experimental design. A total 47 participants were recruited in W-city in Korea, an experimental group(26) and a control group(21) at pre-test, but after the eight weeks the composition of the groups were changed to 22 experimental group and 15 control group. The experimental group participated in the SHTCA once a week for eight weeks. SHTCA program consisted of understanding of the arthritis, contracting of the promise, exercise for muscle strength and joint flexibility and the nine movements of Tai Chi exercise. The measures used to examine the effect of the SHTCA were shoulder flexibility, back flexibility, grasping power, balance, abdominal obesity rates, perception of health status, and EQ-5D standardized five dimensions, mobility, self-care, usual activities, pain/discomfort, and anxiety/depression. Results: At The completion of the eight weeks of SHTCA applying the nine movement Tai Chi, the experimental group reported a significance in a number of variables compared to those of the control group: the right shoulder flexibility(p=.018), left shoulder flexibility(p=.031), right grasping power(p=.014), left grasping power(p=.024), the perception of health status(p=.005) and abdominal obesity rates(p=.027). Conclusion: This SHTCA applying the nine movement Tai Chi would be helpful on right shoulder flexibility, left shoulder flexibility, right grasping power, left grasping power, abdominal obesity rates and the perception of health status for arthritis patients.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.357-363
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• 2006

According to the study of grasping of the human hand, it is noted that the metacarpal link of the thumb plays the key role in power grasping. Also the face of fingertip can be discriminated into five parts depending on the grasping modalities such as pinch grasp, fingertip grasp and power grasp. In this paper, the design of the anthropomorphic robot hand which has a thumb and three fingers is proposed. A difference of SKKU hand II from the previous gripperlike robot hand is that the metacarpal bone is connected between the thumb and the palm. This thumb mechanism is specially designed to get the degree of freedom which can realize flexible motions relative to objects. Based on the analysis, the hand mechanism is developed. Since the driving circuits for the hand are embedded in the hand, only the communication lines supporting CAN protocol with DC power cable are necessary as the input. A new robot is manufactured and feasibility of the hand is validated through preliminary experiments.