• Physical Therapy Rehabilitation Science
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• 제12권2호
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• pp.130-139
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• 2023

Objective: This study aimed to analyze the effects and characteristics of the height of the treatment table on the force and time of ground reaction (GR) and contact hand (CH) generated from the therapist's feet to generate thrust during spinal manipulation (SM). Design: A cross-sectional survey study Methods: Thirty-six healthy subjects were recruited. SM was performed on the ilium using a knee-high table, where the therapist felt it was easy to control the subject's posture and body shape and comfortable to generate force, as well as a relatively high thigh-high table. The force and time generated by the therapist's GR and CH were simultaneously measured through a force plate. Results: As a result, there was a significant difference in peak force and rundown force at the therapist's GR according to the table height (p < 0.05). In the therapist's CH, there was a significant difference between PreMin (preload minimum) force and peak force (p < 0.05), and there was a significant difference between the time from PreMin to peak and the time of the entire section (p < 0.05). Conclusions: As a result, the generation of increased CH force and faster thrust duration were confirmed by mobilizing the reduced GR force of the therapist to generate thrust than the relatively high table on the knee-high table.

• 혜화의학회지
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• 제21권1호
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• pp.135-141
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• 2012

Objectives : This study was conducted to understand 4 groups in tentatively named "muscle coordinative manipulation" by Korean medicine. Methods : We researched some articles on meridian-muscle theory and muscle's action that are classified into 4 groups in muscle coordinative manipulation. Results : The outcome of examining the hypothesis is as follows: 1. The 1st hypothesis : 'Elevated shoulder' group mainly consists of muscles that are involved with shoulder elevation, abduction and external rotation. 'Lowered shoulder' group is mainly composed of muscles that acts of shoulder depression, adduction and internal rotation. 'Elevated pelvis' & 'Lowered pelvis' groups didn't show significant features by the movement of the hips. 2. The 2nd hypothesis : Most of muscles in 'elevated & lowered shoulder' groups are classified into 'hand taiyang' meridian-muscle. Most of muscles in 'elevated pelvis' group are included in 'foot jueyin' meridian-muscle. Most of muscles in 'lowered pelvis' group are classified into 'foot taiyang & foot yangming' meridian-muscle. Conclusions : There is no significant classification in muscles that comprise 4 groups in muscle coordinative manipulation when it comes to meridian-muscle theory and muscle function. More studies on chain reaction of muscle and subsequent analysis in Korean medicine are needed.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.24-27
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• 2003

This paper discusses practical strategies for transition from a pinching to a power grasping, where a multi-fingered hand mounted on a robotic arm envelops a cylindrical object on a table. When the manipulation system grasps a cylindrical object like a pen on a desk, a complete enveloping is not impossible in the initial configuration. The system firstly pinches the object only with two or three fingers and then grasp it with fingers and a palm after regrasping. In this pinching-grasping transition maneuver, human unconsciously selects proper strategy according to some conditions including object dimensions and initial pinching positions. In this paper we therefore develop six possible strategies for this pinching-grasping transition and then investigate their performances for some objects with various dimensions and various grasping positions, using numerical simulations. Based on their results, effective strategies are implemented by using a hand-arm system.

• 한국임상보건과학회지
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• 제4권3호
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• pp.622-633
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• 2016

Purpose. The purpose of this study was compared of left dominant and the right dominant hands about coordination. Methods. The participants were 30 occupational therapy students in M university in Changwon, from April 28th 2015 to May 1. The test tools were Jebson-Taylor Hand Function Test, Hand Strength & Pinch, Grooved Pegboard Test, Box & Block and Balance Test. Results. Right dominant hand was higher than left dominant in hand grip and dexterity, hand manipulation skills. And one leg standing and toe standing were higher left foot than right foot dominant. Conclusion. Most of all evaluation items showed a better result right dominant hand than left dominant. But shows that there is no functional difference between left-hand dominant than right-hand. So left-hand dominant coordination was evaluated by a better than right-handed.

• Journal of Mechanical Science and Technology
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• 제17권2호
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• pp.230-238
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• 2003

In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand 1, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

• 대한예방한의학회지
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• 제8권2호
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• pp.31-44
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• 2004

Bibliographic study on pediatric Chuna in the Myung Chung dynasties resulted as the following. 1. Pediatric Chuna experts in Myung dynasty utilized methods of Chuna to a great extense as means of preventing and treating various kinds of pediatric disorders. 2. Pediatric Chuna experts in Myung dynasty put emphasis on diagnosis through the doctor's inspection. 3. Pediatric Chuna experts in Myung dynasty developed and applied special acupoints for pediatric Chuna. 4. Pediatric Chuna experts in Myung dynasty put emphasis on replenishing and discharging according to hand manipulation. 5. Pediatric Chuna experts in Myung dynasty developed and applied methods of massaging with herbal medicine. 6. Pediatric Chuna experts in Myung dynasty put methods of Chuna into songs for handier use. 7. Pediatric Chuna experts in Chung dynasty corrected the errors of the predecessors and further developed the handed down advantages. 8. Pediatric Chuna experts in Chung dynasty specifically combined the theories of Chuna with characteristics of pediatric physiology. 9. Pediatric Chuna experts in Chung dynasty described treatments by symptoms systematically. 10. Pediatric Chuna experts in Chung dynasty, criticizing the trend at the time of despising pediatric Chuna, endeavored to spread pediatric Chuna. 11. Pediatric Chuna experts in Chung dynasty arranged the relationship between hand manipulation of Chuna and herbal medicine. 12. Pediatric Chuna experts in Chung dynasty arranged various kinds of methods for diagnosis, including diagnosis by palpation of the chest and the abdomen. 13. Pediatric Chuna experts in Chung dynasty combined the method of multiple hand manipulation and method of basic hand manipulation. 14. The theories of pediatric Chuna before Myung Chung dynasties only put emphasis on Ki and Blood, not combining with the basic principles of Korean medicine like Eum/Yang and Five Phases. The scholars of Myung Chung dynasties came to successfully combine the principles of Korean medicine like stability theory, Jang and Bu (internal organs) theory, and Eum-Yang theory with the theories of pediatric Chuna. This combination best characterizes the theories of pediatric Chuna in the Myung Chung dynasties.

• 한국CDE학회논문집
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• 제21권1호
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• pp.20-30
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• 2016

Recently immersive virtual reality (VR) becomes popular due to the advanced development of I/O interfaces and related SWs for effectively constructing VR environments. In particular, natural and intuitive manipulation of 3D virtual objects is still considered as one of the most important user interaction issues. This paper presents a comparative study on the manipulation and interaction of 3D virtual objects using different interfaces and interactions in three VR environments. The comparative study includes both quantitative and qualitative aspects. Three different experimental setups are 1) typical desktop-based VR using mouse and keyboard, 2) hand gesture-supported desktop VR using a Leap Motion sensor, and 3) immersive VR by wearing an HMD with hand gesture interaction using a Leap Motion sensor. In the desktop VR with hand gestures, the Leap Motion sensor is put on the desk. On the other hand, in the immersive VR, the sensor is mounted on the HMD so that the user can manipulate virtual objects in the front of the HMD. For the quantitative analysis, a task completion time and success rate were measured. Experimental tasks require complex 3D transformation such as simultaneous 3D translation and 3D rotation. For the qualitative analysis, various factors relating to user experience such as ease of use, natural interaction, and stressfulness were evaluated. The qualitative and quantitative analyses show that the immersive VR with the natural hand gesture provides more intuitive and natural interactions, supports fast and effective performance on task completion, but causes stressful condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• 한국CDE학회논문집
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• 제12권2호
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• pp.126-136
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• 2007

Teleconferences have been used in business sectors to reduce traveling costs. Traditionally, specialized telephones that enabled multiparty conversations were used. With the introduction of high speed networks, we now have high definition videos that add more realism in the presence of counterparts who could be thousands of miles away. This paper presents a new technology that adds even more realism by telecommunicating with hand gestures. This technology is part of a teleconference system named SMS (Smart Meeting Space). In SMS, a person can use hand gestures to manipulate meeting data that could be in the form of text, audio, video or 3D shapes. Fer detecting hand gestures, a machine learning algorithm called SVM (Support Vector Machine) has been used. For the prototype system, a 3D interaction environment has been implemented with $OpenGL^{TM}$, where a 3D human skull model can be grasped and moved in 6-DOF during a remote conversation between distant persons.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1203-1210
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• 2007

Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.