• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2016-2025
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• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.513-516
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• 2004

Consistency in design, manufacture, installation and performance test of expansion joints is insufficient for guarantee of reliability because they are imported from various foreign countries as America, Japan and Europe. In addition to that, the regulations or codes of expansion joint should be revised and established for levels of vibration and noise generated from riding vehicles especially. Regulation on the noise neighboring traffic roads is established by ministry of environment. Therefore, Field tests on the vibration and the noise at expansion Joints, especially rail-type and finger-type joints which are typical ones in bridge with short or middle span, are performed and performance of expansion joints are analyzed. And so, the results of the investigation will be utilized as basic data for the regulation on the vibration and the noise.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.102-103
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• 2021

With the development of medical IT technology, personalized medical services are increasing in the silver industry era through the development of smart healthcare business. Therefore, in this paper, using various sensors in the Arduino environment, we implemented a finger modeling that can perform joint rehabilitation exercise that can provide personalized smart healthcare services. By measuring the activity of each individual finger joint using an Arduino-based flex sensor, it is intended to be used for personalized rehabilitation exercise in the smart healthcare field in the future.

• Journal of Acupuncture Research
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• v.28 no.6
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• pp.169-175
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• 2011

Objectives : The purpose of this case study is to observe the effect of burning acupuncture therapy on the trigger finger. Methods : 2 patients were treated by burning acupuncture therapy to recover from trigger finger. The symptoms were evaluated by visual analog scale(VAS) and Tanaka score. Results : In both cases, VAS decreased to 0 and 1. Patients were evaluated as excellent and good by Tanaka score. Conclusions : Burning acupuncture therapy is effective to trigger finger.

• Archives of Plastic Surgery
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• v.35 no.3
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• pp.309-311
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• 2008

Purpose: Collagenoma is an intradermal harmatomatous collagen proliferation among connective tissue nevi of the skin. Although there are some reports of isolated collagenomas that occurred on the sole and the palm, collagenoms at the finger has not been reported in Korea. Methods: An 11-year-old girl presented with a growing mass on the distal interphalangeal joint of the left 5th finger. It was a skin-colored, oval and mild tender mass. There were no associated cutaneous or systemic abnormal findings. Results: The nodule, at the subcutaneous level on the distal phalanx, was completely removed by excision. Grossly it was covered with normal skin, and its surface was smooth having a definite margin with a size of $1.5{\times}1.2cm$. Histopathological examination, the epidermis showed to be normal, increased thickness of collagens arranged with a whirl formation was found in the dermis. No signs of cellular component increase were observed. Conclusion: Isolated collagenoma can be aroused as a solitary nodule in at any place of the body. We report a rare case of a female patient with an isolated finger collagenoma.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of the Ergonomics Society of Korea
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• v.28 no.3
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• pp.1-6
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• 2009

Recently, importance of the rehabilitation of hand pathologies as well as the development of high-technology hand robot has been increased. The biomechanical model of hand is indispensable due to the difficulty of direct measurement of muscle forces and joint forces in hands. In this study, a three-dimensional biomechanical model of four fingers including three joints and ten muscles in each finger was developed and a mathematical relationship between neural commands and finger forces which represents the enslaving effect and the force deficit effect was proposed. When pressing a plate under the flexed posture, the muscle forces and the joint forces were predicted by the optimization technique. The results showed that the major activated muscles were flexion muscles (flexor digitorum profundus, radial interosseous, and ulnar interosseous). In addition, it was found that the antagonistic muscles were also activated rather than the previous models, which is more realistic phenomenon. The present model has considered the interaction among fingers, thus can be more powerful while developing a robot hand that can totally control the multiple fingers like human.

• Journal of the Korea Furniture Society
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• v.20 no.1
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• pp.61-70
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• 2009

This study intended to explore English of furniture tenn in relation to the joints and moldings in traditional Korean wood furniture, a base of Korean wood furniture, for the development of Korea furniture in the future. The joints such as butt joint, rabbeted joint, mitered joint, mortise-and-tenon joint, fist joint, and finger joint, and the moldings such as a piece of thread molding, half-circle molding, cove molding, flat molding, and triangle molding were analyzed between English and Korean language. The results were only basic terms which must be researched and unified in the traditional Korean furniture. Therefore, the terms in relation to the types, the details, the hardware, and so on, will have to be studied in terms of the meaning originated from the traditional craftsmen.

• 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.