• Korean Journal of Applied Biomechanics
• /
• v.24 no.3
• /
• pp.309-315
• /
• 2014

The aim of the present study was to investigate the effects of 6-week wrist resistance training on wrist torque control. Nineteen subjects were randomly assigned to either the wrist training group (n=9) or the control group (n=10). The training group performed wrist exercises for six directions (flexion, extension, pronation, supination, radial deviation, and ulnar deviation) while the control group did not. Testing for the isometric torque control error, one-repetition maximum (1-RM) strength, and isokinetic maximum torque (angular velocity of $60^{\circ}/s$ wrist movements) were conducted before and after six weeks of resistance training and after every two-week interval of training. The wrist training group showed significant decreases in isometric torque control error in all six directions after the 2-week resistance training, while the control group did not show significant increase or decrease. The training group showed significant increases in the maximum strength in all six directions assessed by 1-RM strength and isokinetic strength tests after the 4-week resistance training, while the control group did not show any statistically significant changes. This study shows that motor control ability significantly improves within the first two weeks of resistance training, while the wrist strength significantly improves within the first four weeks of resistance training in wrist training group compared to the control.

• The Journal of Korean Physical Therapy
• /
• v.28 no.1
• /
• pp.8-13
• /
• 2016

Purpose: The purpose of the present current study was to examine control of upper limb multi-joint movements with differential coordination stability. To achieve the goals of the study, torque analyses were utilized to answer questions about how torque components were differed among various elbow-wrist coordination patterns. Methods: Eight self-reported right-handed college students (3 males and 5 females, mean age=20.6 yr) were volunteered. The task required participants to rhythmically coordinate the flexion-extension motions of their elbow and wrist with coordination relationship of $0^{\circ}$, $90^{\circ}$, and $180^{\circ}$relative phases between the two joints. Mean relative phase and phase stability (standard deviation of relative phase) were computed to for analysisze of overall coordination performance. To determine the figure out characteristics of torque components in elbow and wrist joints, impulse values of muscle torque (MT) and interactive torque (IT) and MT as a percentage of cycle duration (MT-PCD) were analyzed. Results: Torque results showed that the proximal elbow joint generated motions with mainly muscle efforts regardless of coordination patterns, while the distal wrist joint adjusted the coordination patterns by changing amount of MT. Impulse analyses showed that the least stable $90^{\circ}$ pattern was performed by utilizing a similar coordination strategy of the most stable $0^{\circ}$ pattern. Conclusion: The present current study suggests that the roles of distal and proximal joints differ in order to achieve various multi-joint coordination movements. This study provides information for use in gives an idea to development of rehabilitation or training programs for to persons with an impaired upper limb motor ability.

• Korean Journal of Applied Biomechanics
• /
• v.16 no.4
• /
• pp.105-113
• /
• 2006

The purpose of this study was to analyze the joint torque of triple segmental system in golf driver swing. For this purpose, joint torque were calculated. In order to determine the load on the lumbar region, a triple segmental system was set for wrist, left shoulder and lumbar, torque working on the lumbar region were estimated. For this study, a total of 7 professional golfers were sampled, and then, their driver swings were recorded with two high-speed digital video cameras (180 frames/sec.) to be synthesized into 3-dimensional images and coordinated. Then, Eular's equation was used to produce some kinematic data, which were used to calculate joint torque with Newton's function. All data were calculated using LabVIEW 6.1 graphic program. The results of this study can be summarized as follows; It was found that the joint torque was generated in the direction opposite the target on wrist and shoulder during down swing, while in the direction towards the target on the lumbar region. During impact and release, the torque on the wrist joint was converted from the direction opposite the target to the direction towards the target, while the torque on the lumbar region was generated vice versa. The joints on the club-arm-shoulder were generated in the opposite direction at the beginning of down swing when the torque on the thorax-pelvis began to be generated, and then, the torque on the thorax-pelvis began to lower, while that on the club-arm-shoulder began to increase. Thus, a rapid decrease of the torque on the lumbar region linked to the low trunk acted to increase moment and joint torque on the arm-club region.

• Physical Therapy Korea
• /
• v.1 no.1
• /
• pp.47-54
• /
• 1994

This study was designed to develop an objective method of strength measurement of muscles controlling the wrist joint in normal subjects. Forty subjects (20 male, 20 female) with a mean age of 22 years, were tested isokinetically at $60^{\circ}/sec$ and $120^{\circ}/sec$. Results were as follows, 1) Peak torque for wrist flexors, extensors were significantly different for both speeds, but wrist ulnar deviator, radial deviator peak torques were not, 2) Mean values for all muscle groups controlling the wrist were not significantly different for both speeds in the female group, 3) All mean values at both $60^{\circ}/sec$ and $120^{\circ}/sec$ were significantly different between males and females, 4) Means and standard deviations of wrist joint angle of movement at peak torque were determined.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.37 no.8
• /
• pp.570-578
• /
• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.18 no.1
• /
• pp.109-115
• /
• 2019

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

• International Journal of Internet, Broadcasting and Communication
• /
• v.14 no.2
• /
• pp.183-191
• /
• 2022

The purpose of this study, the wearing conditions of functional pressure clothing applied with the thermotherapy device were determined by three types (NW, CW, TCW) and the difference in isokinetic strength, muscle activity around the forearm was investigated and the effects of products mixed with thermotherapy and pressure treatment were verified. Ten men in their 20s were selected as subjects, and all subjects were randomly assigned three wearing conditions, and wrist flexion/extension exercise was performed at 30° and 90° angular velocity in isokinetic equipment. Peak torque, average power, and EMG were measured during exercise in all conditions. For peak torque, CW was significantly highest at velocity of 30°/sec flexion. Average power showed no significant difference by condition. In the angular velocity of 90°/sec, flexion was significantly higher in CW and TCW than in NW. As a result, wearing clothes with pressure effect and heat effect can show high efficiency in high muscle strength development and fast contraction activity during low speed exercise, and it is thought that it can show improvement of exercise ability through efficient recruitment of motor unit.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.552-555
• /
• 1996

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.

• Journal of the Ergonomics Society of Korea
• /
• v.25 no.1
• /
• pp.1-6
• /
• 2006

The effectivenes of the opener has also been evaluated. The developed opener increased the torque capability of the wrist by 3.2 times so that most of the elderly can open screw caps. In this study the range of the screw cap sizes tested were between 22.0~ 32.0m, which covers over 92.0% of the screw caps in the market that are difficult to open. This particular screw cap opener developed in this study applies to the aged asstrength.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.511-516
• /
• 1991

A new end-effector has been devised and the problems resulted from using it with SCARA robots are discussed. The end effector has two modules: one composed of two ultrasonic motors and two encoders for controlling each finger, and the other module composed of two ultrasonic motors and two encoders for controlling the wrist. The wrist module adds two degrees of freedom to the SCARA type robot, which generally has four degrees of freedom. With independent finger actuation and touch sensors, the gripper under computer control can feedback information about part size and part presence. Ultrasonic motors with high torque and slow motion characteristics are used. The principle of ultrasonic motors is explained and the servo characteristics of ultrasonic motors are studied. They are controlled by the general motion controller (Hewlett Packard HCTL-1000) which is linked to an IBM-PC AT.