• Journal of the Korean Society for Precision Engineering
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• v.24 no.8 s.197
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• pp.130-137
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• 2007

The optimized prosthetic mass distribution was a controversial problem in the previous studies because they are not supported by empirical evidence. The purpose of the present study was to evaluate the effect of prosthetic mass properties by modeling musculoskeletal system, based on the gait analysis data from two above-knee amputees. The joint torque at hip joint was calculated using inverse dynamic analysis as the mass was changed in knee and foot prosthetic components with the same joint kinematics. The results showed that the peak flexion and abduction torque at the hip joint were 5 Nm and 15 Nm when the mass of the knee component was increased, greater than the peak flexion and abduction torque of the control group at the hip joint, respectively. On the other hand, when the mass of the foot component was increased, the peak flexion and abduction torque at the hip joint were 20 Nm and 15 Nm, greater than the peak flexion and abduction torque of the control, respectively. The hip flexion torque was 4.71-fold greater and 7.92-fold greater than the hip abduction torque for the knee mass increase and the foot mass increase on the average, respectively. Therefore, we could conclude that the effect of foot mass increase was more sensitive than that of knee mass increase for the hip flexion torque. On the contrary, the mass properties of the knee and foot components were not sensitive for the hip abduction torque. In addition, optimized prosthetic mass and appropriate mass distributions were needed to promote efficiency of rehabilitation therapy with consideration of musculoskeletal systems of amputees.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1489-1494
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• 2003

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

• Physical Therapy Korea
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• v.5 no.2
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• pp.91-97
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• 1998

The purpose of this study is to introduce prosthetic discipline and ambulation training after hemipelvectomy due to osteosarcoma. Over the past years, when the malignant bone tumors occurs in the extremities amputation is not enough to prevent a part recurrence and distal transformation resulting in fatal prognosis. On the other hand, these procedures could bring about a difficulty in rehabilitation in curing patient who have had hemipelvectomy. However the recent development of chemotherapy and diagnostic facility have permitted the orthopedic surgeons to many try amputations for the treatment of the malignant bone tumors. Unfortunately, there has not been many researches on hemipelvectomy. Since there is no studies found on hemipelvectomy either. Therefore, we introduce successful procedures for rehabilitation through the ambulation training for patients who have had amputation. One of our patients, who is an eighteen years old male, has had hemipelvectomy on the eighteenth of June in 1997 after his anticancer treatment over 12 times. He has had physical therapy of prosthetic ambulation training at the department of rehabilitation medicine Yonsei University Medical Center from the fifteenth of October to December '2nd in 1997.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• The Journal of Advanced Prosthodontics
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• v.4 no.4
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• pp.197-203
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• 2012

PURPOSE. The aim of this systematic review was to address treatment outcome according to attachment systems for mandibular implant overdentures in terms of implant survival rate, prosthetic maintenance and complications, and patient satisfaction. MATERIALS AND METHODS. A systematic literature search was conducted using PubMed and hand searching of relevant journals considering inclusion and exclusion criteria. Clinical trial studies on mandibular implant overdentures until August, 2010 were selected if more than one type of overdenture attachment was reported. Twenty four studies from 1098 studies were finally included and the data on implant survival rate, prosthetic maintenance and complications, patient satisfaction were analyzed relative to attachment systems. RESULTS. Four studies presented implant survival rates (95.8 - 97.5% for bar, 96.2 - 100% for ball, 91.7% for magnet) according to attachment system. Ten other studies presented an implant survival rate ranging from 93.3% to 100% without respect to the attachment groups. Common prosthetic maintenance and complications were replacement of an assay for magnet attachments, and activation of a matrix or clip for ball or bar attachments. Prosthetic maintenance and complications most commonly occurred in the magnet groups. Conflicting findings were found on the rate of prosthetic maintenance and complications comparing ball and bar attachments. Most studies showed no significant differences in patient satisfaction depending upon attachment systems. CONCLUSION. The implant survival rate of mandibular overdentures seemed to be high regardless attachment systems. The prosthetic maintenance and complications may be influenced by attachment systems. However patient satisfaction may be independent of the attachment system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.876-881
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• 2003

This study focused on to design and toanalysis of a myoelectronic hand. We considered a low frequency factor in human life and to quantify low frequency which a human body responded to using a 1-axis ant a 3-axis accelerometer. The dynamic myoelectronic hand are important for tasks such a continuous prosthetic control and a EMG signal recognition, which have not been successfully mastered by the most neural approached To control myoelectronic hand, classifying myoelectronic patterns are also important. Experimental results of FEM are 110㎫ on Thumb, 200㎫ on Index finger, 220㎫ on Middle finger 260㎫ on Ring finger and 270㎫ on Little finger. Experimental results of accelerometer are 1.4-0.4(m/s2) ,(5-20(〔Hz〕) in Feeding activity and 0.4-0(m/s2) (0-10〔Hz〕) in Lifting activity. Considering these facts, we suggest a new type myoelectronic hand.

• Archives of Plastic Surgery
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• v.44 no.2
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• pp.150-156
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• 2017

Background Digital amputation is a common upper extremity injury and can cause significant impairment in hand function, as well as psychosocial stigma. Currently, the gold standard for the reconstruction of such injuries involves autologous reconstruction. However, when this or other autologous options are not available, prosthetic reconstruction can provide a functionally and aesthetically viable alternative. This study describes a novel technique, known as a tripod titanium mini-plate, for osseointegrated digit prostheses, and reviews the outcomes in a set of consecutive patients. Methods A retrospective review of patients who underwent 2-stage prosthetic reconstruction of digit amputations was performed. Demographic information, occupation, mechanism of injury, number of amputated fingers, and level of amputation were reviewed. Functional and aesthetic outcomes were assessed using the quick disabilities of the arm, shoulder, and hand (Q-DASH) scale and a visual analog scale (VAS) score, respectively. In addition, complications during the postoperative period were recorded. Results Seven patients were included in this study. Their average age was 29 years. Five patients had single-digit amputations and 2 patients had multiple-digit amputations. Functional and aesthetic outcomes were assessed using the Q-DASH score (average, 10.4) and VAS score (average, 9.1), respectively. One episode of mild cellulitis was seen at 24 months of follow-up. However, it was treated successfully with oral antibiotics. No other complications were reported. Conclusions When autologous reconstruction is not suitable for digit reconstruction, prosthetic osseointegrated reconstruction can provide good aesthetic and functional results. However, larger series with longer-term follow-up are required in order to rule out the possibility of other complications.

• Journal of Biomedical Engineering Research
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• v.30 no.3
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• pp.205-212
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• 2009

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.964-970
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• 2014

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

• The Journal of Advanced Prosthodontics
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• v.5 no.1
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• pp.44-50
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• 2013

PURPOSE. The aim of this study was to evaluate the effects of repeated porcelain firing process on the corrosion rates of the dental alloys. MATERIALS AND METHODS. Cr-Co, Cr-Ni and Pd-Ag alloys were used for this study. Each metal supported porcelain consisted of 30 specimens of 10 for 7, 9 and 11 firing each. Disc-shaped specimens 10 mm diameter and 3 mm thickness were formed by melting alloys with a propane-oxygen flame and casted with a centrifuge casting machine and then with the porcelain veneer fired onto the metal alloys. Corrosion tests were performed in quintuplicate for each alloy (after repeated porcelain firing) in Fusayama artificial saliva solution (pH = 5) in a low thermal-expansion borosilicate glass cell. Tamhane and Sheffe test was used to compare corrosion differences in the results after repeated firings and among 7, 9 and 11 firing for each alloy. The probability level for statistical significance was set at ${\alpha}$=0.05. RESULTS. The corrosion resistance was higher (30 mV), in case of 7 times firing (Commercial). On the other hand, it was lower in case of 11 times firing (5 mV) (P<.05). Conclusion. Repeated firings decreased corrosion resistance of Pd-Ag, Cr-Co and Cr-Ni alloys. The Pd-Ag alloy exhibited little corrosion in in vitro tests. The Cr-Ni alloy exhibited higher corrosion resistance than Cr-Co alloys in in vitro tests.