• 로봇학회논문지
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• 제17권4호
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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.

• 대한기계학회논문집A
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• 제29권2호
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• Journal of the Korean Wood Science and Technology
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• 제39권2호
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• pp.172-178
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• 2011

Three different finger-jointed lumbers which have different geometric features and adhesives were manufactured and studied in this study. Larch and pitch pine lumbers with and without preservative treatment were used. Bending MOE was measured as the preliminary investigation for grouping the specimen. After the finger, bending MOE of two wood species without preservative treatment shows over 97% property of the control group. The tensile modulus also shows almost same property after the finger joint. And it is found out that the preservative treatment induce little effect on bending and tensile MOE. Based on this result, high performance of examined finger-jointed lumber can be found out. However, tensile strength decreased around 20% which would be induced by the crack along the root of the finger which is formed near the edge during manufacturing stage. And finger-jointed lumber with preservative treatment even shows higher decrement of the tensile strength with higher wooden part failure mode.

• 한국가구학회지
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• 제10권2호
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• pp.73-78
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• 1999

This paper describes the relationship between the bending strength properties of sloped finger-jointed woods and the acoustic emissions(AEs) generated during the test. Rhus verniciflua pieces were cut in sloped-finger types and glued with three kinds of adhesives(polyvinyl acetate, polyvinyl-acryl acetate and oilic urethane resin). The slope ratios of finger joints were 0, 1.0, 1.5, and 2.0. The AE cumulative event count and cumulative count were measured during the bending test. The results were as follows: The lower the bending strength(load) was, the generation time of AE event count got and the higher the increasing rate of AE event count became in the sloped finger-jointed specimens bonded with polyvinyl acetate, polyvinyl-acryl acetate oilic urethane resin adhesives. Therefore, the slope from load-AE cumulative event count was very steep. The patterns of AE event count and count were very similar. The relationship between the MOR and the AE parameter from load and AE cumulatve event count in the early stage of the sloped finger-jointed specimens bonded with polyvinyl acetate, polyvinyl-acryl and oilic urethane resin adhesives was much greater than that between the MOE and the MOR. Therefore, the AE signals obtained during bending test are useful for estimating the strength of sloped finger-jointed Rhus verniciflua specimens.

• 한국운동역학회지
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• 제29권3호
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• pp.157-166
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• 2019

Objective: This study examined the effects of stimulating fingertip temperature on the patterns of force sharing and stability properties during multi-finger force production tasks. Method: 9 adult subjects (male: 3, female: 6, age: $26.11{\pm}4.01yrs$, height: $169.22{\pm}5.97cm$, weight: $61.44{\pm}11.27kg$) participated in this study. The experiment consisted of three blocks: 1) maximal voluntary contraction (MVC) task, 2) single-finger ramp task to quantify enslaving (i.e., unintended force production by non-task fingers), and 3) 12 trials of multi-finger steady-state force production task at 20% MVC. There were three temperature conditions including body-temperature (i.e., control condition), $40^{\circ}C$, and $43^{\circ}C$, and the stimulation was given to the index finger only for all experimental conditions. Results: There were no significant differences in the MVC forces, enslaving, and the accuracy of performance during the steady-state task between the conditions. However, the share of stimulated index finger force increased with the index fingertip temperature, while the share of middle finger force decreased. Also, the coefficient of variation of both index and middle finger forces over repetitive trials increased with the index fingertip temperature. Under the framework of the uncontrolled manifold (UCM) hypothesis used to quantify indices of multi-finger synergies (i.e., stability property) stabilizing total force during the steady-state task, the two variance components within the UCM analysis increased together with the fingertip temperature, while no changes in the synergy indices between the conditions. Conclusion: The current results showed that fingertip temperature stimulation only to index finger does not affect to muscle force production capability of multi-finger, independence of individual fingers, and force production accuracy by the involvement of all four fingers. The effect of fingertip temperature on the sharing pattern and force variation may be due to diffuse reflex effects of the induced afferent activity on alpha-motoneuronal pools. However, the unchanged stability properties may be the reflection of the active error compensation strategies by non-stimulated finger actions.

• 대한두개안면성형외과학회지
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• 제20권1호
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• pp.24-30
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• 2019

Background: Closed reduction of the fracture under general or local anesthesia with elevators or forceps is widely used to treat nasal bone fractures. However, operating under general anesthesia increases the risk of morbidity and raises the cost of management. Furthermore, using forceps or elevators may cause undercorrection, new fractures, mucosal damage, and nasal hemorrhage. We therefore performed manual reduction under local anesthesia, using the little finger, to minimize the demerits of treatment under general anesthesia with forceps or elevators and aimed to assess functional and aesthetic outcomes, and patient satisfaction. Methods: Patients who visited the plastic and reconstructive surgery department between November 2016 and November 2017 with nasal bone fractures and treated by a single surgeon were prospectively followed up. Patients with simple unilateral or bilateral nasal bone fractures were treated with bedside finger reduction under local anesthesia and patients with comminuted nasal bone or septal fractures were scheduled for closed reduction under general anesthesia. Results: Of 84 patients, 28 met the inclusion criterion and underwent bedside finger reduction under local anesthesia. Twenty-seven patients (96.4%) were successfully contacted via telephone for survey. Twenty-three (85.2%) showed good and three (11.1%) showed fair results. All 27 patients (100%) were satisfied with their postoperative function and 25 (92.6%) were satisfied with their postoperative aesthetic result. Twenty-five patients (92.6%) preferred the finger reduction method under local anesthesia over closed reduction under general anesthesia. Conclusion: Finger reduction under local anesthesia in patients with mild unilateral or bilateral nasal bone fractures is an easy and efficient procedure with high patient satisfaction and favorable postoperative functional and aesthetic outcomes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.72-75
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• 2004

In this paper, a finger-click recognition method is proposed to improve the recognition performance for finger-clicking of a wearable input device, called $SCURRY^{TM}$. The proposed method is composed of three parts including feature extraction part, valid click discrimination part, and cross-talk avoidance part. Two types of MEMS inertial sensors are embedded into the wearable input device to measure the angular velocity of a hand (hand movement) and the acceleration rates at the ends of fingers (finger-click motion). The experiment applied to the $SCURRY^{TM}$ device shows the improved stability and performance.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(1)
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• pp.241-244
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• 2001

The design and fabrication of the surface acoustic wave(SAW) bandpass filters using slanted finger interdigital electrode transducers(IDTs) is investigated. The slanted finger IDTs are used to design SAW filters with good shape factor, a flat passband, and good out-of-band rejection characteristic. The slanted finger IDTS filter was simulated of three kind of IDTs structure. uniform-uniform IDT, uniform-withdrawal weighting IDTS, withdrawal weighting-withdrawal weighting IDTS. Uniform-withdrawal weighting IDTs structure SAW filters was designed and fabricated on 112$^{\circ}$ LiTaO$_3$, 128$^{\circ}$LiNbO$_3$ substrates. Designed SAW filter has about a 30% fractional bandwidth and a 70MHz center frequency.

• 대한인간공학회지
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• 제36권5호
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• pp.355-372
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• 2017

Objective: The aim of this study is to investigate the performance and usability of ten-finger text entry on Tablet PCs. Background: Generally a soft keyboard is used on Tablet PCs. However, the soft keyboard's performance is usually worse than physical keyboard's performance. In this study, we proposed a modified keyboard for tablet PCs to improve the performance of ten-finger text entry and evaluated the performance and subjective ratings of the keyboard. Method: The modified soft keyboard that is suggested in this study was compared with current Google and Samsung soft keyboards on Tablet PCs. Results: The three keyboards were not significantly different in terms of typing speed, error rate, and mental workload and showed bad performance. Also, the subjective ratings were not shown positively. Conclusion: Based on our results, ten-finger text entry using soft keyboards on Tablet PCs seems to be very difficult. However, we need to research the possibility continuously since ten-finger text entry can improve typing speed. Application: Our study can be a starting point of research that explores ten-finger text entry on Tablet PCs. The new soft keyboard design can be one of the soft keyboard alternatives. However, the key factors to improve the performance and usability of the soft keyboard will not be 'key size' or 'convenience to typing special characters or numbers', but other factors (e.g., 'tactile feedback').

• 한국정밀공학회지
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• 제32권10호
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• pp.873-878
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• 2015

A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.