• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1918-1919
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• 2011

상체 지원 외골격 로봇은 크게 인간의 근력을 보조하는 형태와 인간의 근력을 증강하는 형태가 있다. 여기서는 인간의 근력을 증강하는 외골격 로봇을 중심으로 기술하고자 한다. 이러한 외골격 로봇은 팔의 EMG (Electromyograph;근전도) 신호를 측정하는 방법보다는 손의 힘을 직접 감지하는 방법을 통한 팔꿈치와 어깨의 엑추에이터를 구동하는 방식을 취하는 경향이 있다. 본 논문에서도 후자의 방식을 이용하여 손에 작용하는 힘을 분석하여 외골격 로봇을 움직이는 방식을 취하였다. 손의 힘 중에서도 인간을 중심으로 볼 때 위방향과 전진방향의 힘을 분석하기 위하여 2개의 F/T(Force/Torque) 센서를 사용하였으며 팔을 벌리는 동작은 엑추에이터 없이 자유롭게 동작이 가능하도록 설계하였다. 이러한 위방향 및 전진방향 힘의 크기를 팔꿈치와 어깨의 엑추에이터의 동작으로 바꾸어 인간의 동작을 도울 수 있고 힘을 증폭할 수 있는 외골격 로봇을 설계 제작하였다. F/T 센서는 손의 힘을 전기적 신호로 바꾸어주는 로드셀로 이루어지며 손의 힘을 최대한 잘 반영하기 위한 구조를 고안하였다. F/T 센서의 전기신호는 증폭기를 거쳐서 잡음을 제거한 후에 A/D 변환하여 processor에서 처리되어진다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1217-1224
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• 2013

In this paper, a hand exoskeleton actuated by air muscles(soft hand exoskeleton) is introduced. Some soft hand exoskeletons have already been developed to overcome the defects of hand exoskeletons based on linkage and pneumatic piston system-they are usually bulky and do not have enough degree of freedom(DOF). However, soft hand exoskeletons still have defects. Their motions are not precise as linkage based hand exoskeletons, because their actuator, such as air muscle is made of soft materials. So we developed a new linkage which is not bulky and has redundant DOF. It is combined with air muscle in a specific way so that it acts as a guide when air muscle is actuated. Some experiments were conducted to evaluate the validity and usability of our hand exoskeleton.

• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.5
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• pp.941-946
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• 2021

This paper is a study on the design and implementation of a rehabilitation wearable robotic hand that reduces weight and volume by using a 3D printer and a motor. Rehabilitation wearable robots are important not only for the effect of rehabilitation but also for ease of use. However, most of the currently researched and developed rehabilitation exoskeleton robots are heavy in volume and weight, or they have to be used in place. Therefore, a wearable robot that is easy to wear and does not burden the user is required, so a lightweight electric rehabilitation wearable robot hand is proposed. A 3D printer was used to reduce the weight and volume and to make it easier to wear. In addition, to increase portability, the structure was simplified by adopting an electric method rather than a pneumatic method. Finally, the effectiveness was examined through the experiment of the lightweight electric rehabilitation wearable robot hand.

• The korean journal of orthodontics
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• v.38 no.2
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• pp.83-94
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• 2008

Purpose: The first objective of this study was to compare the upper midface morpholgy, focusing on the soft tissues, between skeletal Class III maloccusion patients with midfacial depression and the norm. The second objective was to estimate and analyze the change in the upper midface soft tissues following surgical correction with maxillary advancement by Lefort I osteotomy and mandibular setback by bilateral sagittal split osteotomy (BSSRO). Methods: The samples consisted of 34 adult patients (15 males and 12 females) with an average age of 21 years, who had severe anteroposterior discrepancy with midfacial depression. These patients had received presurgical orthodontic treatment and surgical treatment which consisted of simultaneous Lefort I osteotomy and BSSRO. Results: The correlation coefficient between changes in maxillary advancement and changes in Or' (soft tissue orbitale) was 0.599 (p < 0.05). Change in maxillary plane angle and vertical change of the maxilla were not correlated with the change in Or' (p < 0.05). The ratio of soft tissue change in Or' to maxillary advancement was 43.57 %, and 81.54 % in Sn. Regression equations between maxillary movement and Or' were devised. The $r^2$ value was 0.476. Conclusions: The majority of measurements in the upper midface in skeletal Class III maloccusions when compared to the norm, showed significant differences. In Class III malocclusion with midfacial depression, maxillary advancement produces soft tissue change in the upper midface.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.1
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• pp.264-273
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• 2012

This cross-sectional study was investigated musculoskeletal discomfort symptoms and related factors on some middle high school teachers. Self-questionnaire of KOSHA CODE H-30-2003 was done with 250 teachers from 1st to 15th October, 2010, the data from 231 teachers (68 male, 163 female) was statistically analyzed to search the factors related to musculoskeletal discomfort symptoms. According to NIOSH rate of musculoskeletal discomfort symptoms by body parts was 36.8%. Musculoskeletal discomfort symptoms related to age, school types, subjective health status, housekeeping time, VDT work time and regular rest. After adjusting for related variables, odds ratio (OR) of musculoskeletal discomfort symptoms was correlation significantly to subjective health status unhealthy (OR 11.75, 95% Confidence Interval, CI, 3.56-378.78). In addition, ORs (95% CI) of age (40-49) and housekeeping time (${\geq}3$) were 4.63 (1.82-26.18) and 4.33 (1.97-19.34). Analysis of the factors influencing the musculoskeletal discomfort symptoms vary in different parts of the body. The most discomfort symptoms by parts was neck (26.0%) and shoulder (30.0%). In the neck region was related to subjective health status and regular rest. In the shoulder and waist region was subjective health status and sex. Age was wrist/finger, leg/foot was related to subjective health status, sex and VDT work time. Age, school types, subjective health status, housekeeping time, VDT work time and regular rest related to musculoskeletal discomfort symptoms and the most discomfort symptoms by parts was neck and shoulder.

• Journal of agricultural medicine and community health
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• v.44 no.4
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• pp.209-219
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• 2019

Objectives: This study investigated musculoskeletal symptoms in upper limbs according to the working environment (job stress) of dental hygienists and examine their relationship with upper limb functions. Methods: The subjects include 198 dental hygienists in dental hospitals and dental clinics in Pusan and Gyeongnam. The questionnaire was consisted of general characteristics of the subjects, job stress, musculoskeletal symptoms in upper limbs and function (Disability Measurement Tool for Upper Extremity Disorders-11, DASH-11). Results: The study was analyzed their musculoskeletal symptoms in upper limbs according to their general characteristics and found that the symptoms occurred in the neck (39.4%), the shoulders (54.6%), elbows (14.7%), and the hands (50.0%). Job stress was associated with upper limb functions (DASH-11) (model 3, B=5.210, p=0.012) and repeated elbow bending and spreading posture was associated with DASH-11 (model 3, B=6.561, p=0.029). Elbow symptoms were associated with DASH-11 in the upper limbs (B=10.679, p=0.003). Conclusion: Dental hygienists are experiencing limitations of upper limb function due to job stress. In particular, even if the correction of their uncomfortable posture is significantly related to the job stress and upper limb function, in order to improve the upper limb function of the dental hygienist, efforts to reduce the job stress as well as the uncomfortable posture are necessary.

• Journal of Genetic Medicine
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• v.8 no.1
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• pp.67-70
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• 2011

Constitutional trisomy 8 mosaicism (CT8M) is a relatively rare aneuploidy in humans with characteristic phenotypes including typical craniofacial feature (such as deformed skull, prominent forehead, low-set and/or dysplastic ears), skeletal malformation, cardiac anomaly, renal malformation, cryptochidism, varying degree of developemental delay. Due to the extremely variable phenotypic and cytogenetic expression, CT8M has gone undiagnosed in certain patients. We report a 28-year-old women with secondary amenorreha without characteristic CT8M phenotype. Chromosomal analysis showed a CT8M (47,XX,+8[9]/46,XX[41]).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.3
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• pp.1258-1265
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• 2013

The objective of this study is to investigate the association between touchpad &buttons locations in a laptop computer and EMG amplitude and median frequency in muscles related with wrist and shoulder. Based on previous studies it was shown how abductions in wrist and shoulder could cause musculoskeletal disorders in those body parts, on which research hypotheses were established. Touchpad &buttons positions consisted of bottom center(BC), bottom center with $45^{\circ}$ rotation counterclockwise(BCR), and bottom right(BR). 10 subjects performed the task that required only touchpad &buttons usage with their preferred hand and EMG amplitude and median frequency data were recorded during 5min and analyzed afterwards. Upper trapezius and flexor carpi ulnaris were selected as target muscles. The results showed that in flexor carpi ulnaris BC resulted in greater amplitude and less median frequency than BCR and BR, but there was no significant difference between BCR and BR. In upper trapezius BC and BCR induced higher amplitude and lower median frequency than BR, but the significant difference between BC and BCR was not observed. Those phenomena occurred since BC gave rise to both wrist and shoulder abduction, BCR caused only shoulder one, and BR did not lead to abductions in both wrist and shoulder.