• 한국가구학회지
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• 제11권2호
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• pp.7-12
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• 2000

This paper describes the bending strength properties of laminated woods which had three kinds of specimens according to finger length-12, 4.5 mm and butt joint and the acoustic emissions (AEs) generated during the test. 3-ply laminated wood beams were tension side layers (lower layers) composed of one middle lamina and two side-jointed laminae, with one butt joint ($_1BJ$), one finger joint (12mm, $_1FJ_{12}$) or one finger joint (4.5mm, $_1FJ_{4.5}$) in the middle lamina of tension side layer. And 3-ply laminated wood beams were tension side layers (lower layers) also composed of one lamina, with one butt joint (BJ), one finger joint (12mm, $FJ_{12}$) or one finger joint (4.5mm, $FJ_{4.5}$/) in tension side layer. Cryptomelia pieces were cut for butt and two finger types and glued with resorcinol-phenol resin adhesive. The results were as follows It was not effective in the bending modulus of elasicity (MOE) with IFJL type and had no difference from finger length. The bending modulus of rupture (MOR) of laminated wood beams including finger joint was the same values as that including butt feint and had no difference from finger length. It was effective in MOE with FJL type and had no difference from finger length. The effect of finger joint on MOR was much higher than that of butt joint but had no difference from finger length. The AE generation time of IFJL type was earlier than that of the control wood and the number of AE count was much more than that of the control wood. However, the AE generation time of FJL type was earlier than that of the control wood and the number of U count was much fewer than that of the control wood.

• 한국정밀공학회지
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• 제28권6호
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• pp.657-682
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• 2011

This paper presents the dynamic analysis on the joint torque of a finger for the tip pinch task. The dynamic model on finger movement was developed in order to predict the joint torques of an index finger, and the finger was assumed as a three-link planar manipulator. Analysis of the model revealed that the joint stiffness was one of the most important parameters affecting the joint torque. The stiffness of the finger joint was experimentally measured, and it was used in analyzing the finger joint torque required for performing the tip pinch task. The obtained joint torque for the tip pinch task will be used as the design requirements of the finger exoskeletal orthosis actuated by the polymer actuator whose allowable torque limit is relatively low compared to that of a mechanical actuator.

• 한국구조물진단유지관리공학회 논문집
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• 제6권1호
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• pp.241-254
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• 2002

Though there are many kinds of type in the expansion joint of bridges, Transflex joint was usually used from 1970's to 1980's. But it made of rubber is needed to exchange to new one often because of the breakage by wheel load. This study performed the safety estimation which is to exchange the transflex joint to finger joint kept the part of situ-cast-concrete. The standard of finger joint is same as that of transflex joint, we investigated the safety of finger joint with experimental results and FEM (Finite element method) analysis.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• 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.

• 대한인간공학회지
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• 제20권3호
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• pp.11-25
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• 2001

AS human movements have the inherent property of anticipating target and can be coordinated to realize a given schedule, finger movements have stereotyped patterns during hand grasping. Finger movements have been studied in the past to find out the coordination pattern of hand joint angular movement. These studies analyzed only a few finger joints for a limited number of hand postures. This study investigated fourteen joint angles during eight hand-grasping motions to analyze the angular correlations between finger joints and to suggest motion factors which represent hand grasping. Hand grasping motions including forward arm motion were examined in ten healthy volunteers. Eight objects were used to represent real hand grasping tasks. $CyberGlove^{TM}$ and $Fasreack^{TM}$ measured hand joint angles and wrist origin. Joint angle correlations between PIJ(proximal interphalangeal joint) and MPJ(metacarpophalangeal joint) at one finger, between neighboring PIJs and MPJs were four factors related to the fast phase of hand grasping motions and eight factors related to the slow phase of hand grasping motions.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• Journal of the Korean Wood Science and Technology
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• 제41권4호
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• pp.318-326
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• 2013

소나무와 스프루스재를 사용하여 핑거공차를 0.15 mm로 고정하고 핑거피치 4.4 mm (Type S)와 6.8 mm(Type L)의 2종류 및 레조시놀 페놀 수지 접착제 및 수용성 비닐 우레탄 수지접착제로 2종류의 사용하여 종접합시키고 또한 2본의 종접합재를 이용하여 횡방향으로 핑거접합부를 양쪽으로 이동시키면서 접착하여 핑거접합부위의 배치거리를 접합재의 두께를 기준으로 하중점 중앙으로부터 양쪽 핑거접합부까지의 거리를 접합재 두께의 비율($R_t$) 0, 1.5, 2, 2.5, 3배의 5조건으로 제조하여 3점 중앙집중식 휨강도성능시험을 한 결과는 다음과 같다. 1) 휨탄성계수는 핑거접합부의 위치 이동과 관계없이 접착제의 종류, 핑거의 형상에 따른 영향은 나타나지 않았다. 2) 휨강도는 접착제의 종류, 핑거의 형상에 관계없이 하중점 중앙에서부터 멀어질수록 거의 직선적으로 증가하였으며 핑거접합부가 소재두께 비율의 3배에서는 소재와 같은 값을 나타내었다. 3) 시험편의 파괴는 하중점 중앙에서부터의 핑거접합부까지의 거리가 두께의 비율이 0, 1.5배에서 모두 핑거접합부에서 파괴되었으며 거리가 멀어질수록 접합부에서의 파괴가 적게 일어나다가 두께비율의 3배에서는 전혀 나타나지 않았다.

• 한국가구학회지
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• 제10권1호
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• pp.65-71
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• 1999

The bending performance of sloped finger-jointed Rhus verniciflua were tested in order to improve the strength properties of finger-joint. Sloped finger-cut pieces were jointed with three kinds of adhesives (polyvinyl acetate, polyvinyl-acryl acetate and oilic resin). The slope ratios of finger joints were 0, 1.0, 1.5, and 2.0. The MOE, MOR and deflection to maximum load in bending of sloped finger-joints and solid wood specimen were measured. The results were : 1) The efficiencies of MOE to finger and sloped finger-joints to the solid wood were almost same in the three kinds of adhesives(polyvinyl acetate, polyvinyl-acryl acetate and oilic urethane resin) and there were some effect of slope on the MOE in a sloped finger-joint for three kinds of resin adhesives. 2) There was the effect of slope on the MOR in sloped finger-joints in every kind of adhesive. The efficiencies of MOR in slope ratios of 0 and 2.0 ranged 65-79%, respectively. There was also a slight effect of the kinds of adhesives on the MOR. However, the efficiencies of deflection to the urethane resin adhesive were much less than those of polyvinyl acetate, polyvinyl-acryl acetate resin adhesives except the slope ratio of 0. 3) It might be impossible to estimate the bending stregth of sloped finger-jointed Rhus verniciflua by using MOE. The correlation coefficient(0.192) between MOE was very low and not significant at 5% level.

• Archives of Reconstructive Microsurgery
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• 제11권1호
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• pp.41-46
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• 2002

Purpose : To assess the clinical results of second toe-to-finger transfer in traumatic amputated index finger. Materials and Methods : For the clinical evaluation, we have analyzed 12 patients with ROM of finger joints, pinch power, static two point discrimination, life functional assessment, and patient's satisfaction. Results : In genral ROM was $54.4^{\circ}$ at MP joint, $17^{\circ}$ at PIP joint and $6.7^{\circ}$ at DIP joint. Pinch power was good in 3 cases, fair in 7 cases, and poor in 2 cases. Daily life activity and patient's acceptance were satisfactory. Conclusion : Although transfered toe function may be poorer than normal finger, the hand was restored to a useful, sensate and versatile functional unit.