• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.777-785
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• 2000

This paper provides a guideline for the determination of compliance characteristics and the proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using hands. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole tasks effectively for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play ompliance on the peg and the coupling siffness element existing between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. The analytic results verified through simulations.

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

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

• Journal of Music and Human Behavior
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• v.19 no.2
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• pp.81-103
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• 2022

The effects of therapeutic instrumental music performance (TIMP) using a ukulele were examined in adults with central nervous system damage and impaired hand functions. The participants were three adults with neurological damage who participated in 30-min sessions twice a week over 6 weeks. Changes in hand function was measured by the Box and Block Test (BBT), the 9-Hole Peg Test (9-HPT), and the Jebsen-Taylor Hand Function Test (JTHFT). Following the intervention, all three participants showed increases in the BBT and 9-HPT scores, indicating positive changes in fine motor coordination and dexterity. In terms of the JTHFT, all three participants showed increases in the "writing" and "card flipping" subtask scores, indicating that the intervention was effective in improving more coordinated finger movements. All participants reported the satisfaction with the intervention. They also pointed out that they were motivated to play the ukulele and that following the intervention used their affected hand more frequently in daily activities. These findings suggest that TIMP with a ukulele for patients with central nervous system damage can have positive effects on their functional hand movements and motivate these patients to practice their rehabilitation exercises.

• Journal of Society of Occupational Therapy for the Aged and Dementia
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• v.12 no.2
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• pp.47-55
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• 2018

Objective : The purpose of this study is to consider the change of hand function according to the quality of sleep and to find out a correlation among the quality of sleep and hand function, and sleep disturbing factors. Method : 23 patients who were hospitalized more than 6 months from Nov. 2017 to Jan. 2018 were tested for the quality of sleep used by sleep quality scale, for the grip strength used by a dynamometer, and for the coordination used by BBT and 9-Hole Peg test. The collected data were analyzed to implement the paired t-test and Pearson correlation coefficient. Result : In the high grade group of sleep score, the quality of sleep & BBT, and the grip strength & BBT have correlated each other; and in the medium group, only the latter has shown a correlation. In both groups, the quality of sleep and the sleep pattern have showed significant high correlation. Conclusion : When the elderly in geriatric hospitals show qualitative differences, BBT and the combination of treatment for the improvement of grip strength can improve the quality of sleep. And the sleep pattern intervention is considered to be effective to improve the quality of sleep.

• Therapeutic Science for Rehabilitation
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• v.5 no.1
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• pp.55-65
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• 2016

Objective : This study aimed to investigate the effects of home-based action observation training on upper extremity in brain tumor patient. Methods : Among the single case study design, this experiment used ABA' design. The evaluations were carried out 4 times during pre baseline period(A) and post baseline period(A') respectively. At the intervention period(B), a total of 25 times of action observation training and 10 times of evaluation were administered. Results : Study results indicate that 9-hole peg test, Box and Block Test, Manual Function Test were increased when compared to action observation intervention(B) to pre intervention baseline(A). Conclusion : Based on these results, home-based action observation training may be an effective upper extremity intervention strategy for tumor-induced hemiparetic patient.