• Journal of Korean Academy of Nursing
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• v.33 no.1
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• pp.79-86
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• 2003

Purpose: The purpose of this study was to identify the effects of Koryo Hand-Acupuncture on health status(pain, trunk flexion, IADL, depression) of patients with chronic low back pain. Method: This study used a quasi experimental pre-test and post-test design. Data were collected from December 1st, 2000 to December 20th, 2001. 63 chronic low back pain patients(35 experimental group, 28 control group) admitted to the Back-School and consented to this study. The experimental group participated in treatment: Koryo Hand-Acupuncture and AB-Bong. Two groups was homogeneity. After 4 weeks the effects of treatment on the health status was measured between experimental and control group. Data were analyzed using SPSSWIN 10.0 with crosstab, t-test, and paired t-test. Result: In the experimental group, pain(t=4.85, p=.000) and IADL difficulty(t=2.05, p=.045) was significantly lower than those in the control group. It makes no difference trunk flexion(t=-1.60, p=.114) and depression(t=1.50, p=.138) between experimental and control group. Conclusion: These findings indicate that Koryo-Hand Acupuncture is an effective method for reducing pain and IADL difficulty in patients with chronic low back pain, and is considered as a independent nursing intervention for chronic low back pain.

• Korean Journal of Adult Nursing
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• v.20 no.6
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• pp.883-894
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• 2008

Purpose: This study was to examine the effects of aroma hand massage on pruritus, fatigue and stress of the patients undergoing hemodialysis. Methods: This study was a nonequivalent control group pretest-posttest design. Study sample was conveniently recruited from two hospitals(28 for experimental and 30 for control group). The experimental group went through aroma hand massage on hand without AVF for 5 min for 12 times mixed with Lavender, Chamomile and Geranium oils in the ratio of 4 : 4 : 2, which was diluted 3% with sweet almond crrier oil 100 ml. The collected data were analyzed using SPSS/WIN 12.0. Results: The 1st hypothesis, 'Experimental group who has received aroma hand massage will have lower rate of pruritus than the control group' was accepted(t = -5.084, p = .001). The 2nd hypothesis, 'Experimental group who has received aroma hand massage will have lower rate of fatigue than the control group' was accepted(t = -2.557, p = .015). The 3rd hypothesis, 'Experimental group who has received aroma hand massage will have lower rate of stress than the control group' was accepted(t = -5.537, p = .001). Conclusion: The aroma hand massage has shown to be an effective nursing intervention to reduce the pruritus, fatigue and stress among patients undergoing hemodialysis. Therefore, the massage is needed to continuously be applied to hemodialysis patients to improve their quality of life.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1774-1778
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• 1991

In this paper, we discuss the smooth hand-over of an object from a man to a robot and vice versa. In order for a robot to grasp an object or release a grasped object stably without using object model, as a man does, one of the basic approaches is the physiological method motivated by the study of human hands. So, we analyze human's grasping behavior by measuring grasp and friction forces simultaneously as a man grasps a experimental device which is designed for grasping or hand-over. Also, we investigate two methods that can predict when and bow fingers will slip upon a grasped object. And then, we propose a method of the hand-over of an object between a man and a robot by applying human's capability to a robot hand control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.18-25
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• 2003

A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• Journal of Korean Academy of Nursing
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• v.39 no.1
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• pp.10-20
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• 2009

Purpose: The purpose of this study was to identify the effects of hand acupuncture therapy on pain, ROM, ADL, and depression among older people with low back pain and knee joint pain. Methods: The research was a quasi-experimental design using a non-equivalent control group pre-post test. The participants were 40 patients, 18 in the experimental group and 22 in the control group. A pretest and 2 posttest were conducted to measure the main variables. For the experimental group, hand acupuncture therapy, consisting of hand acupuncture and press-pellets based on corresponding points, was given. Results: There were statistically significant differences in pain, ROM in knee joint, and ADL in the experimental group but not in depression compared to the control group over two different times. Conclusion: The hand acupuncture therapy was effective for low back pain, knee joint pain, ROM in knee joint and ADL among the elders in this study. Therefore, the hand acupuncture therapy can be utilized in the field of geriatric nursing as a nursing intervention for older people with low back pain and knee joint pain.

• Child Health Nursing Research
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• v.10 no.1
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• pp.22-28
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• 2004

Purpose: The purpose of this study was to identify the effect of hand acupuncture on reduction of headache. Method: This study used a quasi-experimental pre-test and post-test design. 45 middle school girls who complained of headache were selected as subjects. The study lasted from November 2002 to June 2003. There were 22 girls in the experimental group while 23 girls were control group; convenience assignment was used. The two groups were homogeneous on characteristics. The experimental group received hand acupuncture. The treatment was to puncture corresponding points (A33, B27, M1, I2) on both the palm and the back of a hand with disposable acupuncture needles, and then remove them after a 20-30 minutes recess during which the subjects reclined on a bed. The data were analyzed using the SPSS PC with Fisher's Exact -test, and Mann Whitney U-test. Result: The results of this study were as follows: 1) In the experimental group, objective pain decreased after hand acupuncture (U= -2.51, p= .01). As for the objective pain degree, a significant reduction in voice change was observed in the experimental groups (U= -2.35, p= .02). Facial expressional changes were observed (U= -1.87, p= .06) and perspiration degree (U= -.99, p= .32) has reduced. However, these differences were not statistically significant between the experimental and control group. 2) Subjective pain degree decreased after hand acupuncture in the experimental as compared to the control group. 3) No statistical significant difference in comfort (U= -.29, p= .78) or distress (U= -1.51, p= .13) between experimental and control group were found. Conclusion: These findings indicate that hand acupuncture is an effective method for reducing headache. Therefore, hand acupuncture can be considered as an independent nursing intervention for headache reduction.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.9 no.1
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• pp.27-44
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• 2002

The main purpose of this study was to identify the effect of hand massage on pain and anxiety related to chest tube removal in patients with a lobectomy. The research design of this study was a nonequivalent control group non-synchronized design. Of the twenty nine adult subjects, fourteen were assigned to the experimental group and fifteen to the control group. The data were obtained over 3 months from a medical center in Seoul. The instruments used to assess trait state anxiety was the Spielberger Trait-State anxiety Inventory. For pain and psychological anxiety. The Visual Analogue Scale was used. Hiko analogue sphygmo-manometer(2001) was used to check blood pressure and pulse rate as indicators of physiological anxiety Subjects in the experimental group received hand massage for 5 minutes just before chest tube was removed, and subjects assigned to the control group did not receive hand massage. Data were analysed with $x^2$-test and Mann-Whitney U test using the SPSSWIN 10.0 program. The results of the study are as follows : 1. Hypothesis 1: 'there will be a significant difference between two groups in the level of pain after chest tube removal' was supported (u = 23.00, p < 0.001). 2. Hypothesis 2: 'there will be a significant difference between the two groups in the level of psychological anxiety after chest tube removal' was supported (u = 3.00, p < 0.001). 3. Hypothesis 3: 'there will be a significant difference between the two groups in physiological anxiety(systolic, diastolic blood pressure and pulse rate) after chest tube removal' was supported(u =55.50, p = 0.01 ; u = 41.50, p = 0.01 ; u = 20.50, p < 0.001, relatively). The findings of this study indicate that hand massage is effective for pain and anxiety related to chest tube removal in patients with lobectomy. Therefore, hand massage is recommended as an effective nursing intervention for relieving pain and anxiety in patients undergoing chest tube removal. Further research is needed to identify the proper duration and timing to achieve the optimal effect of hand massage. A larger subject population is required to apply the current findings to the general population. Further research is also needed to assess the effects of hand massage in other patient subsets. Finally, it would be interesting to see if the effects of hand massaging would be attenuated when performed by a non-medical specialist.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.1
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• pp.117-125
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• 2022

PURPOSE: This study was carried out to examine the changes in the trunk control ability and hand grip when the abdominal draw-in maneuver using breathing was applied to stroke patients, and provide basic data regarding the trunk stabilization exercise. METHOD: After randomly placing patients in group I-applying the existing abdominal draw-in exercise and group II -applying the abdominal draw-in exercise using breathing, the intervention program was performed ten times per set (five sets per session), once a day, four times a week, for a total of four weeks. For the pre-tests before the intervention, trunk damage and hand grip were measured. After the four weeks of intervention, post-tests were conducted in the same way as the pre-tests for analyzing the study results. RESULTS: Both groups had significant differences in trunk control ability and hand grip (p < .05). The comparison between the two groups showed, significant differences only in the trunk control a ability(p < .05). CONCLUSION: The abdominal draw-in exercise using breathing led to the efficient contraction of abdominal muscles, which implies this is a more effective intervention to improve the trunk control ability.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.