• 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.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.522-525
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• 1995

A manipulation of a multiple contacted object by a Rotational Base and Single-jointed Finger mechanism(RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. The conditions for manipulation of an object at multiple contacts by the RBSF mechanism, which cannot exert arbitrary contact forces because it has a fewer number of joints than is required for active control, is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.52-56
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• 1990

An algorithm is proposed to determine the optimal contact forces of robotic hands, where the soft finger contact as well as the frictional point contact are considered. Especially, the algorithm can be efficiently applied to the case of multi-point contact by inner-link as well as fingertip. To show the validities of the algorithm, several numerical exampies are presented by employing a robotics hand with three fingers each of which has four joints.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.327-332
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• 2000

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.

• The Journal of Internal Korean Medicine
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• v.25 no.3
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• pp.559-568
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• 2004

Diagnosis of Raynaud's phenomenon is primarily based on clinical symptoms. Cold stress test(CST) done by DITI(Digital Infrared Thermographic Image) can be helpful for objective diagnosis. The cold stress test was performed three times by DITI; the first after 15 minutes of rest, the second right after one minute of soaking in $20^{\circ}C$ water, the third ten minutes after immersion. For a clear diagnosis, the temperature of the finger tips must be low, or the thermal difference between the metacarpophalangeal joints and the fingertips must be large. Also the evaluation of treatment depends on decrease of thermal gradient between the metacarpophalangeal joints and the finger tips after CST. In oriental medicine Raynaud's phenomenon can be categorized by coldness of the limbs or numbness. Numbness was diagnosed as depression of Ki and Chiljehyangbuhwan(Qizhixiangfuwan) was prescribed. Positive results were observed, not only in follow up CST, but also Visual Analogue Scale after treatment.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.21-26
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• 2014

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Archives of Plastic Surgery
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• v.35 no.3
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• pp.316-320
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• 2008

Purpose: Pachydermoperiostosis is a rare hereditary disease characterized by finger clubbing, periosteal reaction, and pachydermia. The underlying pathogenic mechanism of this disease remains unclear. This disease is known to be associated with a variety of diseases such as cranial suture defect, bone marrow failure, hypertrophic gastropathy, Crohn's disease, and female escuchen. Methods: A 50-year-old male had digital clubbing of both hands, coarse hypertrophic skin changes of face, progressive thickening and furrowing on the scalp(cutis verticis gyrata), persistent pain in the limbs and joints. Other cutaneous features include moderate blepharoptosis, pole-like lower legs and feet. Results: We performed surgical excision for hypertrophic skin change of scalp because of frequent eczematous skin change, severe itching sensation and cosmetic problem. Diagnosis is confirmed by bony proliferative periosteal reaction, pathologic findings, and characteristic clinical findings. Conclusion: Pachydermoperiostosis is manifested by finger clubbing, and hypertrophic skin changes causing coarse facial features with thickening and periosteal bone formation. We experienced a case of pachydermoperiostosis. Brief review of related literature is given.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• 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.