• The Journal of Korea Robotics Society
• /
• v.19 no.1
• /
• pp.1-7
• /
• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Journal of Korean Physical Therapy Science
• /
• v.13 no.1
• /
• pp.61-74
• /
• 2006

This study about functional anatomy of the hand. hand injuries are among the most common problems confronting patient, physical therapist and physicians. physical therapist should know about normal hand function and anatomical structure for hand injury, clinical reasoning and intervention. physical therapist should know about the Skeletal of the hand, Function of The Hand, Nerves of the hand, Sensation of the Hand, Intrinsic muscle, Power and Balance and Functional Position of the Hand. In this article, we discuss the physiologic properties of hand structure, biomechanical observation in hand function, sensation and nerves, hand positioning.

• Journal of Applied Reliability
• /
• v.8 no.4
• /
• pp.193-204
• /
• 2008

In this paper, we proposed availability evaluation of network in mobile communication network that have hand off structure. Radio mobile communication network is essential hand off action to keep communication that is no discontinuance by transfer of terminal. Part by state and hand off state ago hand off by transfer of terminal and communication network is estimated performance according to the hand off rate and hand off completion rate of system. we applied MS, SM, MM communication structure in radio CORBA for network availability evaluate. System availability in mobile communication network that can repair that propose in this study uses the hand off rate and hand off completion rate of system by transfer of terminal and availability of whole system did evaluate.

• Textile Coloration and Finishing
• /
• v.31 no.4
• /
• pp.298-311
• /
• 2019

In this study, the mechanical properties and hand characteristics of the knitted and woven fabrics for bedding items are investigated in accordance with fabric structural parameters including the fiber type and proportion, the density of the fabric, and the knit/weave structure. The knit stitches and structure of the knit samples made an effect on tensile properties. The bending, shear and compression properties for the knit fabric were mainly affected by fiber contents of the samples. The tensile and bending properties of woven samples were highly correlated with the fabric density, thickness and structure, and those shear and compression properties were affected by the fiber contents and structure. Consequently, the primary hand values of the selected samples we developed were estimated to have good smoothness, fullness and softness, and soft feeling, which is well correlated to the parameters of consumer preference such as softness, warmness, and bulkiness. Also, their total hand values were increased.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.63-66
• /
• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.12
• /
• pp.1601-1609
• /
• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.14 no.10
• /
• pp.1035-1040
• /
• 2004

The vibration of an electric hand grinder originates from the motor, gear, bearing, and fan. Its excessive vibration can be harmful to workers. To reduce the vibration of an electric hand grinder. frequency analysis for the vibration signals of a running electric hand grinder and modal test for the each part were done. The results show that the vibration is due to the resonance of the case. To remove the resonance, the case structure was modified and the bearing cap was replaced on a basis of the results of the rotor dynamic analysis using SAMCEF. As a result, the vibration of the electric hand grinder was reduced greatly.

• The Research Journal of the Costume Culture
• /
• v.19 no.2
• /
• pp.334-345
• /
• 2011

A study on compressive garments guarantee the required pressure and form depending on the type of disease and the state of injury can be used in the preventive treatment of cardiovascular disease. This research is to provide a preliminary data to develop medical clothing products, especially knitted compression garments. Starting from analyzing knitted structure of imported pressure goods to apply to test samples, 11 kinds of knitted stretchy fabrics were manufactured under the various knitting conditions, then their tensile, mechanical and hand properties were measured. In comparison size changes by knitting structure, tuck stitch applied structure showed an increase in course direction and decrease in wale direction. Float stitch applied structure indicated the contraction of size in width because of unformed loops and floated yarn on the technical back of fabric. As a result of tensile properties in tuck and float applied structure, tensile strength was increased in the course direction. On the other hand, the more loops overlapped due to the tuck and float stitch, the more decreased their elongation and elastic recovery were. In case of mechanical properties, as the tuck and float stitch were overlapped double or triple the bending and shearing properties were risen. Accordingly, the drape of fabric becomes stiff, and its surface becomes rough and uneven. The measurements of hand properties showed that the value of KOSHI, FUKURAMI NUMERI in tuck and float applied structure are higher than the plain structure. This results from the relationship between the mechanical and hand properties.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2006.05a
• /
• pp.187-191
• /
• 2006

본 논문에서는 비전 기술에 기반을 둔 손 모양 인식 시스템의 성능 향상을 위해 학습을 통해 손 모양과 손 구조 간 유사도를 결정하는 방법을 제안한다. 비전 센서에 기반을 둔 손 모양 인식은 손의 높은 자유도로 인한 자체 가림 현상과 관찰 방향 변화에 따른 입력 영상의 다양함으로 인해 인식에 어려움이 따른다. 따라서 비전 기반 손 모양 인식의 경우, 카메라와 손 간의 상대적인 각도에 제한을 두거나 여러 대의 카메라를 배치하는 것이 일반적이다. 그러나 카메라와 손 간의 상대적 각도에 제한을 두는 경우에는 사용자의 움직임에 제약이 따르게 되며, 여러 대의 카메라를 사용할 경우에는 각 입력된 영상에 대한 인식 결과를 최종 인식 결과에 반영하는 방식에 대해서 추가적으로 고려해야 한다. 본 논문에서는 비전 기반 손 모양 인식의 이러한 문제점을 개선하기 위하여 인식의 과정에서 사용되는 손 모양 특징을 손 구조적인 각도 정보와 손 영상 특징으로 나누고, 학습을 통해 각 특징 간 연관성을 정의한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.831-836
• /
• 2004

Vibration of electric-powered hand grinder comes from the parts of motor, gear, bearing, and fan. Excessive vibration can be harmful to workers. To reduce vibration of a hand grinder we analyzed the frequency components from the routing electric-powered grinder and did modal test to find the natural frequencies of the each part. It shows that the vibration is due to the resonance of the case. To remove the resonance, the case structure is modified and the bearing cap is replaced on a basis of the results from the rotor dynamic analysis using SAMCEF. As a result the vibration of the hand grinder is reduced greatly.