• Women's Health Nursing
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• v.15 no.4
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• pp.372-380
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• 2009

Purpose: The purpose of this study was to examine the effects of aroma hand massage on Sleep, depression and quality of life in the institutionalized elderly women. Methods: This study was a nonequivalent control group pretest-posttest design. The data was collected from June 23 to August 10 of 2009. Fifty - Six elderly women were divided into two groups, 27 institutionalized elderly women for the experimental group and 29 institutionalized elderly women for the control group. As for experimental treatment, the experimental group went through aroma hand massage with blended oil-a mixture of Lavender, Bergamot, Chamomile Roman in the ratio of 1 : 1 : 1, which was diluted 2.0% with jojoba carrier oil 20mL-on each hand for 5 minutes, three times a week during two weeks. Control group went non-treatment. Results: The aroma hand massage experimental group showed more significant differences in the charge of sleep score (t=3.83, p=.00) and depression (t=-3.54, p=.00). Conclusion: Aroma hand massage had a positive effect on sleep and depression in Institutionalized elderly women.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• Safety and Health at Work
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• v.6 no.3
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• pp.159-173
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• 2015

The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study.

• Journal of Physiology & Pathology in Korean Medicine
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• v.25 no.2
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• pp.365-372
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• 2011

The purpose of this study was to identify the effects of aroma hand massage and hand massage on sleep disturbance and depression in hospitalized elderly patients. The study was performed using a nonequivalent control group pretest-posttest design. The data was collected by using questionnaires and the measured values from 1 June to 31 August, 2006. The subjects who were admitted to the B Medical Center Hospital in Busan. A total of 40 subjects were selected : 20 in the experimental group and 20 in the control group. The aroma hand massage was administered to the experimental group, and hand massage was given to the control group. The experimental group were applied the aroma hand massage executed by methods such as effleurage, circling, pressing, etc. to both hands using a solution diluting six drops of lavender oil, and bergamot oil, 3% in jojoba oil 20 cc. In the experimental group, aroma hand massage was given for 10 minutes, three times a week, during 2 weeks. The control group receiving the hand massage was given the massage for 10 minutes every two days for 2 weeks. The result of the study are as follows : 1) The first hypothesis : "The Experimental group would have a higher degree of sleep score than the control group" was supported(F=31.798, p=p<0.001). 2) The second hypothesis : "The Experimental group would have a lower degree of depression score than the control group" was supported(F=21.743, p<0.001). Aroma hand massage is an effective nursing intervention for decreased sleep disturbance and depression. Therefore, aroma hand massage by nursing intervention is strongly recommended for improving psychological and physiological functions in hospitalized elderly patients.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.26 no.2
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• pp.86-95
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• 2019

Purpose: The aim of this study was to examine the effects of aroma hand massage on stress, fatigue, and sleep in sophomore nursing students. Methods: This study was a quasi-experimental design with a nonequivalent control group and a pre-post test was used. Thirty-seven sophomore nursing students were recruited. The experimental group (n=18) underwent 40 minutes aroma hand massage which was provided by the research assistant. The research assistant was trained with a video clip for aroma hand massage that was developed by Korea Aroma Association. Aroma oil contained lavender essential oil and sweet orange oil mixed with a jojoba oil base. The control group (n=19) did not receive any other treatments related aroma and massage. Results: Significant improvements were exhibited in scores for stress (t=-2.61, p=.013) and fatigue in the experimental group (t=-2.05, p=.047) compared to the control group. However, differences in sleep between two groups were not statistically significant (t=1.23, p=.277) between two groups. Conclusion: The results of this study suggest that aroma hand massage could be useful to decrease stress and fatigue levels for sophomore nursing students. Therefore, results of this study can be used as a basis of health care programs for reducing stress of nursing students.

• Journal of Biomedical Engineering Research
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• v.38 no.2
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• pp.74-81
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• 2017

The purpose of this study was to investigate the EMG characteristics of driver's upper extremity and driving performance for manipulating brake and accelerator pedal by using left and right hand control devices during simulated driving. The people with disabilities in the lower limb have problems in operation of the motor vehicle because of functional loss for manipulating brake and accelerator pedal. Therefore, if hand control device is used for adaptive driving controls in people with lower limb impairments, the disabled people can improve their quality of life by driving a motor vehicle. Six subjects were participated in this study to evaluate driving performance and muscle activities for operating brake and accelerator pedal by using two different hand controls (steering column mounted hand control and floor mounted hand control) in driving simulator. We measured EMG activities of six muscles (posterior deltoid, middle deltoid, triceps, biceps, flexor carpi radialis, and extensor carpi radialis) during pushing and pulling movement with different hand controls for acceleration and braking. STISim Drive 3 software was used for the performance test of different hand control devices in straight lane course for time to reach target speed and brake reaction time. While pulling the hand control lever toward the driver, normalized EMG activities of middle deltoid, triceps and flexor carpi radialis in subjects with disabilities were significantly increased (p < 0.05) compared to the normal subjects. It was also found that muscle responses of posterior deltoid were significantly increased (p < 0.05) when using the right hand control than left hand control. While pushing the hand control lever forward away from the driver, normalized EMG activities of posterior deltoid, middle deltoid and extensor carpi radialis in subjects with disability were significantly increased (p < 0.05) compared to the normal subjects. It was shown that muscle responses of middle deltoid, biceps and extensor carpi radialis were significantly increased when using the right hand control than left hand control. Brake reaction time and time to reach target speed in subjects with disability was increased by 12% and 11.3% on average compared to normal subjects. The subjects with physical disabilities showed a tendency to relatively slow acceleration at the straight lane course.

• Journal of Korea Society of Industrial Information Systems
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• v.17 no.4
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• pp.9-15
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• 2012

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• Journal of The Korean Society of Integrative Medicine
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• v.3 no.4
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• pp.11-21
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• 2015

Purpose : The purpose of this study was to provide the material about the treatment effect of hand function training and writing training being performed as a part of treatment to improve the function of the non-dominant hand of the patients whose dominant hand is damaged and thus need to improve their non-dominant hand's function. Method : During one month of November, 2013, this study randomly chose five study subjects for hand function training, five for writing training, and ten of control group from 20 normal male and female adults going to K Univ. in Busan. All study subjects fully understood all of the training course, agreed to take the test in this study, and volunteered to participate in the test. Each training was performed five times for two weeks, 30 minutes each time. For measurement, Purdue pegboard was used to look into the change of hand dexterity. To investigate an improvement in hand function through hand function training and writing training, this study conducted early evaluation before training, interim evaluation, and final evaluation. Result : First, according to the comparison of dominant hand dexterity by group and by method during a training period, the groups of hand function training and of writing training improved dominant hand dexterity more than the control group. Secondly, according to the comparison of non-dominant hand dexterity by group during a training period, the groups of hand function training and of writing training improved dexterity more than the control group. According to the comparison of non-dominant hand dexterity by method during a training period, there was no big difference in dexterity between the groups of hand function training and of writing training and the control group. But, the group of hand function training showed a further improvement. Thirdly, according to the comparison of both-hand dexterity by group and by method during a training period, the groups of hand function training and of writing training improved both-hand dexterity more than the control group. Fourthly, according to the comparison of both-hand handling ability by group and by method during a training period, the groups of hand function training and of writing training improved both-hand handling ability more than the control group. Conclusion : Given the study result, it is considered that hand function training and writing training help brain damaged patients improve their hand function for their daily activity. And it will be meaningful to research brain damaged patients' motor skills after their brain damage, and the patients who have low abilities of visual perception and cognition. In the future, it will be necessary to secure more study subjects and perform systematic training during a sufficient test period.