• 한국산학기술학회논문지
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• 제16권3호
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• pp.2073-2078
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• 2015

본 연구에서는 선 자세에서 팔굽관절 각도에 따른 악력과 위팔노근의 두께 변화를 확인하여 팔굽관절 각도가 악력에 미치는 영향을 알아보고자 하였다. 연구를 위해 건강한 대학생 30명을 선별한 후, 선 자세에서 팔굽관절 $0^{\circ}$, $90^{\circ}$, $135^{\circ}$ 굽힘을 취하게 하고 각각의 최대악력과 위팔노근 두께를 전자악력계와 초음파 영상 진단 장비를 이용하여 측정하였다. 그 결과 남자 대학생과 여자대학생 모두 팔굽관절 각도가 $0^{\circ}$일 때 악력이 가장 컸으며, 각도가 증가할수록 악력이 감소하였으나, 통계적으로 유의미한 차이는 없었다(p<.05). 남자대학생과 여자대학생 모두 팔굽관절 각도가 $0^{\circ}$일 때 위팔노근의 두께가 가장 작았으며, 각도가 증가할수록 위팔노근의 두께가 증가하였으며 통계적으로 유의미한 차이가 있었다(p<.05). 본 연구의 결과를 통해 팔굽관절 각도변화가 악력에는 큰 영향을 미치지 않으나, 위팔노근의 두께에는 영향을 미친다는 것을 알 수 있었다.

• 대한정형도수물리치료학회지
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• 제14권2호
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• pp.25-33
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• 2008

Purpose : This study was investigated the effect on grasp and pinch strength according to degree of flexion in elbow joint. Methods : Thirty male and thirty female students, aged 20 to 31 years were tested for using opened positioning with their shoulder abduction at $55^{\circ}$ and shoulder horizontal adduction at $30^{\circ}$ in four elbow flexion($0^{\circ}$, $45^{\circ}$, $90^{\circ}$, $135^{\circ}$). An electronic dynamometer(E-LINK V900s Evaluation System)and goniometer were used to measure grasp and pinch strength. Results : The average grasp strength of the dominant hand was strongest at elbow $45^{\circ}$ however, weakest at elbow $135^{\circ}$ flexion in both of male and female. The average pinch strength of the dominant hand was strongest at elbow $135^{\circ}$ flexion in both of male and female. The average pinch strength of dominant hand was weakest at elbow $45^{\circ}$ flexion in both of male and female. According to degree of elbow flexion in both of male and female, grasp and pinch strength was no significant statistically. In analyzing correlations, the grasp strength of male showed the most significant difference at elbow $45^{\circ}$ & $90^{\circ}$ flexion, and the pinch strength was most significant difference at elbow $0^{\circ}$ & $45^{\circ}$ flexion. Conclusion : In analyzing correlations, the grasp strength of female showed the most significant difference at elbow $90^{\circ}$ & $135^{\circ}$ flexion, and the pinch strength was most significant difference at elbow $45^{\circ}$ & $90^{\circ}$ flexion.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• 한국정밀공학회지
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• 제19권11호
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.927-932
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• 2001

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

• 대한물리치료과학회지
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• 제2권3호
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• pp.707-725
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• 1995

The hand is an integral part of normal hand functioning. The ability of the hand to grasp and manipulate objects or tools is necessary for accom-plishing many tasks of daily living. Therefore it is important to improve hand function for patient with hand impairment. The objectives of this article are to review the developmental process of hand function and to described the types of grasp, grip, pinch, and prehension. Developmental process of hand function is based on general developmental theory as Vojta, Bobath and Ayres. There are many kinds of classification of prehension, grasp, and pinch. This review include the classification by Malick, Kiel, Melvin, Sollrman & Sperling, Pedretti & Zoltan, Tyldesley & Grieve' book, Norkin & Levangie' book. This article hope to give the information for application in physical and occupational therapy practice.

• 로봇학회논문지
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• 제9권4호
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• pp.258-263
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• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제3권3호
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• pp.119-124
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• 2014

G = (V, E) 를 그래프라 하자. Maximum Bipartite Subgraph 문제는 주어진 그래프 G로부터 최소 개수의 간선을 제거함으로써 G 를 이분그래프로 변환시키는 문제이며 결합 최적화 문제들 중 대표적인 문제들 중의 하나로 알려 져 있다. 본 문제는 NP-complete 계열에 포함되는 문제로서 본 연구에서는 Tabu Search 및 GRASP 등을 조합한 새로운 메타휴리스틱 알고리즘을 제시하고자 한다.

• 대한안전경영과학회지
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• 제13권1호
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• pp.133-142
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• 2011

Overhead facility design problem(OFDP) is one of the shortest rectilinear flow network problem(SRFNP)[4]. Genetic algorithm(GA), artificial immune system(AIS), population management genetic algorithm (PM) and greedy randomized adaptive search procedures (GRASP) were introduced to solve OFDP. A path matrix formed individual was designed to represent rectilinear path between each facility. An exchange crossover operator and an exchange mutation operator were introduced for OFDP. Computer programs for each algorithm were constructed to evaluate the performance of algorithms. Computation experiments were performed on the quality of solution and calculations time by using randomly generated test problems. The average object value of PM was the best of among four algorithms. The quality of solutions of AIS for the big sized problem were better than those of GA and GRASP. The solution quality of GRASP was the worst among four algorithms. Experimental results showed that the calculations time of GRASP was faster than any other algorithm. GA and PM had shown similar performance on calculation time and the calculation time of AIS was the worst.