• 대한기계학회논문집
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• 제18권8호
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• pp.2016-2025
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• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Archives of Plastic Surgery
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• 제36권2호
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• pp.153-160
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• 2009

Purpose: The heterodigital or homodigital artery island flap is a popular method of reconstruction for finger defects. Sometimes, digital artery island flap has some disadvantages such as postoperative flap edema, congestion, and partial necrosis of the flap margin. However, we could decrease these disadvantages by means of venous superdrainage. The aim of this study is to report usefulness and postoperative results of venous supercharging digital artery island flaps for finger reconstruction. Methods: From March of 2005 to March of 2008, a total of eight patients with soft tissue defects of the finger underwent venous supercharging digital island flap transfer. Briefly, the flap is harvested along with dorsal vein that is then anastomosed to a recipient vein in an end - to - end fashion, after flap transfer and insetting. Using this technique, eight patients were operated on, ranging in age 23 to 52 years. Results: All the flaps survived with a success rate of 100 percent, thus fully satisfying the reconstructive requirements. No postoperative flap congestion was recognized, obviating the need to take any measures for venous engorgement, such as suture removal. Among 8 cases, it was possible to make an long - term and follow - up observation more than 6 months. In these cases, the fact that light touches and temperature sensations can be detected in all the flaps. Cold intolerance and hyperesthesia were not seen in our series. Conclusion: Providing good harmony with conventional methods and microsurgery, inclusion of a vein with the heterodigital and homodigital artery island flap allows a more reliable and safer reconstructive choice for finger defects. The venous supercharged island flap is a reliable flap with a consistent arterial structure, and with its augmented venous drainage, it is more reliable, providing single - stage reconstruction of adjacent finger defects, including the fingertip.

• Archives of Reconstructive Microsurgery
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• 제10권2호
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• pp.99-104
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• 2001

Purpose : Loss of sensibility over the finger tip resents a grave deficit and is an indication for sensible soft tissue reconstruction. This paper was performed to assess the long term results obtained by nerovascular island flap. Material and Methods : We performed neurovascular island graft for defective sensibility of finger tip loss in 94 cases since 1979 to 2000. The recipient sites were the thumb pulp defect in 79 cases, the amputated thumb in 9 cases, the amputated index in 4 cases, and the velar aspect of interphalangeal joint of thumb in 2 cases. The donor flaps were obtained from the radial side of ring finger in 63 cases, the ulnar side of the ring finger in 21 cases, and the ulnar side of the middle finger in 10 cases. A mean follow-up period was 5.7 years. Results : The flap quality was well vascularized and survived in 89 cases. The two-point discrimination was average 8.7mm. Because of scar contracture, the range of motion of the donor finger was decreased 3.5% of the normal finger in the distal interphalangeal joint, 8,2% in the proximal interphalangeal joint. A phenomenon of double sensibility occurred in 66 cases. Conclusion : This technique was excellent both aesthetically and functionally as a reconstruction of the Loss of fingertip.

• Archives of Plastic Surgery
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• 제36권5호
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• pp.674-677
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• 2009

Purpose: Typical cross finger flap is still a good method for reconstruction of fingertip injuries. However, it is necessarily followed by great loss and aesthetically unpreferable result of donor finger. Hereby, we introduce a modification of cross finger flap with reduction pulp plasty and full thickness skin graft, with which we could reduce the defect size of injured fingertip and donor site morbidity at the same time, without any need for harvesting additional skin from other part of hand. Method: This method was performed in the patients with fingertip injuries of complete amputation or in case of loss of fingertip due to necrosis after replantation. Firstly, reduction pulp plasty was performed on the injured finger to reduce the size of defect of fingertip. Additional skin flap was obtained from the pulp plasty. Secondly, cross finger flap was elevated from the adjacent finger to cover the defect on the injured finger. At the same time, defect on the donor finger produced by the flap elevation was covered by full thickness skin graft with the skin obtained from the pulp plasty of injured finger. Results: Flap and graft survived without any necrosis after surgical delay and flap detachment. All of them were healed well and did not present any severe adversary symptoms. Conclusion: Cross finger flap with reduction pulp plasty and full thickness skin graft is an effective method that we can easily apply in reconstruction of fingertip injury. We think that it is more helpful than the usual manner, especially in cases of children with less soft tissue on their fingers for preservation and reduction of the morbidity of donor finger.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1011-1020
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• 2016

This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

• 대한영상의학회지
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• 제84권5호
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• pp.1031-1046
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• 2023

손가락은 일상생활과 스포츠 활동 중에 가장 흔하게 손상될 수 있는 구조물이다. 손가락 손상은 손가락의 뼈와 인대, 연골을 포함한 연부조직까지 다양한 구조물의 손상을 포함한다. 특수 표면코일을 이용한 고해상도 3 테슬라 자기공명영상을 이용하여 복잡한 연부조직 구조물들을 평가할 수 있다. 손가락과 손의 기본 해부학과 흔한 병변의 자기공명영상 소견들에 대한 기존의 보고들이 있다. 손가락의 인대, 건, 도르래 등 여러 구조물의 기본 해부학과 흔한 외상성 병변의 영상학적 소견의 이해는 다양한 손의 외상성 병변에 대한 정확한 평가를 가능하게 한다. 본 눈문에서는 손가락의 기본 해부학적 구조 및 흔한 외상의 자기공명영상 소견을 복습하고, 실제 수술장 소견과 연관 지어 이해를 돕고자 한다.

• Archives of Reconstructive Microsurgery
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• 제20권2호
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• pp.116-120
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• 2011

Myositis ossificans is a solitary benign ossifying lesion in the soft tissue. Occurring predominantly in muscles, a similar lesion may occasionally be found in subcutaneous tissues, tendons, fascia and periosteum. It is often misdiagnosed as an extraskeletal osteosarcoma because of its rapid growth. Therefore, it is sometimes called pseudomalignant myositis ossificans. Myositis ossificans rarely occurs in the distal portion of the finger. We present a case of myositis ossificans of finger and review the the clinical, radiographical, and histological presentation, as well as the appropriate therapeutic management.

• Journal of Trauma and Injury
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• 제32권3호
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• pp.181-186
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• 2019

Finger reconstruction involves paramount significance of both functional and aesthetic aspects, due to its great impact on quality of life. The options range from primary closure, skin grafts, local flaps, pedicled flaps, and free flaps. The optimal method should consider various circumstances of the patient and surgeon. We would like to report a case of a young woman who initially presented with cellulitis and necrosis of the left second finger-tip who underwent reconstruction with bilateral toe pulp free flap. The patient could successfully return to her job that involves keyboard typing and playing the piano, with acceptable donor site morbidity.

• 대한인간공학회지
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• 제30권4호
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• pp.563-569
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• 2011

Objective: This study focuses on the effects of pre-cues informing the location of upcoming visual stimulus on finger movement response in the context of control-on-display interfaces. Background: Previous research on pre-cues focus on attention allocation and motion studies were limited to indirect control conditions. The design of this study aimed to collect data on the exact landing point for finger-tap responses to a given visual stimulus. Method: Controlled visual stimuli and tasks were presented on a UI evaluation system built using mobile web standards; response accuracy and response time were measured and collected as appropriate. Among the 16 recruited participants, 11 completed the experiment. Results: Providing pre-cue on the location of stimulus affected response time and response accuracy. The response bias, which is a distance from the center of stimulus to the finger-tap location, was larger when the pre-cue was given during a one-handed operation. Conclusion: Given a pre-cue, response time decreases, but with accuracy penalized. Application: In designing touch-screen UI's - more strictly, visual components also acting as controllers - designers would do well to balance human perceptual and cognitive characteristics strategically.