• The Journal of Korea Robotics Society
• /
• v.8 no.1
• /
• pp.20-28
• /
• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• The Korean Journal of Emergency Medical Services
• /
• v.18 no.2
• /
• pp.35-43
• /
• 2014

Purpose: The purpose of this study was to establish novice user guidelines for efficient external laryngeal manipulation for intubation in difficult airway management. Methods: This study included 59 pre-qualified junior and senior emergency medical service students. The participants were instructed at random to intubate a manikin equipped with a cervical collar, thus simulating a difficult airway, using three types of external laryngeal manipulation: bimanual laryngoscopy, backward-rightward pressure, and cricoid pressure. The resultant intubation time and glottic view grade scores were estimated. Results: Intubation time was longest using the bimanual manipulation method, followed by cricoid pressure and backward-rightward pressure. A low Cormack-Lehane glottic view score was obtained regardless of the assisted compression method used. Conclusion: Backward-rightward pressure may be the most efficient method of external laryngeal manipulation on the basis of the intubation time and improvement in glottic view.

• Journal of Dental Rehabilitation and Applied Science
• /
• v.25 no.3
• /
• pp.201-210
• /
• 2009

The purpose of this study was to compare the replicability of centric relation made by means of self guided method, bimanual manipulation, chin-point guidance, leaf gauge method, gothic arch tracing. The EPA test of Arcus $Digma^{(R)}$ was employed for examining the reproducibility of centric relation. 10 adults with normal occlusion were participated in this study. In this limitation of study, the following results were obtained; Condyle position was different depending on different methods of guiding centric relation. Left and right temporomandibular joints showed a little different degree of repeatability. Bimanual manipulation using anterior jig was the most replicable. Chin point guidance provided the second most repeatable method, and Gothic arch tracing showed the third, the leaf gauge was the forth, the self-guided method was the worst.

• Therapeutic Science for Rehabilitation
• /
• v.5 no.2
• /
• pp.23-33
• /
• 2016

Objectives: The aim of this study was to investigate the association between cognitive function and upper extremity function in the elderly. The articles were analyzed based on patient, intervention, comparison, and outcome using the P.I.C.O. principle. Methods: We systematically examined papers from January, 2000 to November, 2015 published papers through the foreign journals which were Medline & Pubmed for three months. mainly used key words were elderly, dementia, Alzheimer's disease, Mild cognitive impairment, age-related, aging, cognitive, upper extremity function, hand function, hand-grip strength, grip force, complex motor function, bimanual, dexterity, UE performance, and coordination. Results: The number of discovered outcomes for association between cognitive function and upper extremity function in the elderly was 7; grip strength & sex are impact on manipulation object, 1. The results show that cognitive function is associated with upper extremity function in the elderly. Conclusion: This study is expected to help selecting intervention, assessment tools according to the individual's degree of cognitive level and upper extremity function. In future domestic research, variety assessment tools need to be used and more qualitative level experiment will be carried out.