• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• Archives of Reconstructive Microsurgery
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• v.10 no.2
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• pp.99-104
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• 2001

Purpose : Loss of sensibility over the finger tip resents a grave deficit and is an indication for sensible soft tissue reconstruction. This paper was performed to assess the long term results obtained by nerovascular island flap. Material and Methods : We performed neurovascular island graft for defective sensibility of finger tip loss in 94 cases since 1979 to 2000. The recipient sites were the thumb pulp defect in 79 cases, the amputated thumb in 9 cases, the amputated index in 4 cases, and the velar aspect of interphalangeal joint of thumb in 2 cases. The donor flaps were obtained from the radial side of ring finger in 63 cases, the ulnar side of the ring finger in 21 cases, and the ulnar side of the middle finger in 10 cases. A mean follow-up period was 5.7 years. Results : The flap quality was well vascularized and survived in 89 cases. The two-point discrimination was average 8.7mm. Because of scar contracture, the range of motion of the donor finger was decreased 3.5% of the normal finger in the distal interphalangeal joint, 8,2% in the proximal interphalangeal joint. A phenomenon of double sensibility occurred in 66 cases. Conclusion : This technique was excellent both aesthetically and functionally as a reconstruction of the Loss of fingertip.

• Archives of Plastic Surgery
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• v.33 no.4
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• pp.480-484
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• 2006

Purpose: A lot of surgical techniques were tried to correct extension lag of distal interphalangeal joint. Spiral oblique retinacular ligament reconstruction is the one of correction techniques. Methods: From January 2004 to January 2005, a total of 13 extension lag of distal interphalangeal joint corrections were performed using spiral oblique retinacular ligament reconstruction for 11 patients. After dorsal incision exposing from base of distal phalanx to proximal phalanx, the new ligament(half of lateral band or graft tendon) lies distally at the dorsum of the distal phalanx and passes volarly and proximally along the side of the middle phalanx and anterior and obliquely across the front of the proximal interphalangeal joint to the opposite side of the digit at the proximal phalanx. Results: 5 of 6 mallet finger deformities and 7 swan neck deformities were corrected, which were both extension lag of distal interphalangeal joint and hyperextension of proximal interphalangeal joint. Conclusion: As a result, spiral oblique retinacular ligament reconstruction is an effective and recommendable method for correction of mallet finger deformity and swan neck deformity.

• Journal of Trauma and Injury
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• v.32 no.1
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• pp.47-50
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• 2019

Irreducible dislocation of the distal interphalangeal (DIP) joint is a rare traumatic condition commonly seen in sports injuries. Herein, we present a case with chronic dislocation of the DIP joint caused by high energy trauma accompanied by a fracture of the ipsilateral clavicle. The local deformity resulting from the dislocation can be trivial. Therefore, obtaining radiographs of all the interphalangeal joint injuries, regardless of the findings on inspection, is crucial for accurate diagnosis in the case of high energy trauma. The good functional improvement was obtained by open reduction and temporary wire fixation for 4 weeks.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.233-238
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• 2014

In this paper, we developed a finger robot simulating spasticity and contracture which can be used as a testing bed for evaluating performance of hand rehabilitation devices while it can be also used to train clinicians for improving reliability of clinical assessment. The robot is designed for adult finger size and for independent control of Metacarpophalangeal Joint and Proximal Interphalangeal Joint. Algorithm for mimicking spasticity and contracture is implemented. By adjusting the parameters related to contracture and spasticity, the robot can mimic various patterns of responses observed in fingers with spasticity and contracture.

• Journal of Korean Orthopaedic Sports Medicine
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• v.8 no.1
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• pp.51-55
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• 2009

Volar rotatory dislocation of the proximal interphalangeal joint(PIP) of the finger is rare. We report a female judo player who had volar rotatory dislocation of the PIP joint of the middle finger. She had dislocation of PIP joint total 4 times. At operation, the central tendon was identified as being distension, with the ulnar collateral ligament ruptured. The ruptured ulnar collateral ligament was interposed within the joint. The ruptured ulnar collateral ligament was repaired and extensor expansion was repaired. At last follow-up, she didn't have recurrent dislocation during judo. Accurate diagnosis, early intervention and progressive rehabilitation of this injury are very important as other dislocations.

• Archives of Plastic Surgery
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• v.47 no.5
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• pp.451-459
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• 2020

Background For volar soft tissue defects of the proximal interphalangeal (PIP) joint, free flaps are technically challenging, but have more esthetic and functional advantages than local or distant flaps. In this study, we compared the long-term surgical outcomes of arterial (hypothenar, thenar, or second toe plantar) and venous free flaps for volar defects of the PIP joint. Methods This was a single-center retrospective review of free flap coverage of volar defects between the distal interphalangeal and metacarpophalangeal joint from July 2010 to August 2019. Patients with severe crush injuries (degloving, tendon or bone defects, or comminuted/intra-articular fractures), thumb injuries, multiple-joint and finger injuries, dorsal soft tissue defects, and defects >6 cm in length were excluded from the study, as were those lost to follow-up within 6 months. Thirteen patients received arterial (hypothenar, thenar, or second toe plantar) free flaps and 12 received venous free flaps. Patients' age, follow-up period, PIP joint active range of motion (ROM), extension lag, grip-strength ratio of the injured to the uninjured hand, and Quick Disabilities of Arm, Shoulder & Hand (QuickDASH) score were compared between the groups. Results Arterial free flaps showed significantly higher PIP joint active ROM (P=0.043) and lower extension lag (P =0.035) than venous free flaps. The differences in flexion, grip strength, and QuickDASH scores were not statistically significant. Conclusions The surgical outcomes of arterial free flaps were superior to those of venous free flaps for volar defects of the PIP joint.

• Journal of the Ergonomics Society of Korea
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• v.20 no.3
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• pp.11-25
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• 2001

AS human movements have the inherent property of anticipating target and can be coordinated to realize a given schedule, finger movements have stereotyped patterns during hand grasping. Finger movements have been studied in the past to find out the coordination pattern of hand joint angular movement. These studies analyzed only a few finger joints for a limited number of hand postures. This study investigated fourteen joint angles during eight hand-grasping motions to analyze the angular correlations between finger joints and to suggest motion factors which represent hand grasping. Hand grasping motions including forward arm motion were examined in ten healthy volunteers. Eight objects were used to represent real hand grasping tasks. $CyberGlove^{TM}$ and $Fasreack^{TM}$ measured hand joint angles and wrist origin. Joint angle correlations between PIJ(proximal interphalangeal joint) and MPJ(metacarpophalangeal joint) at one finger, between neighboring PIJs and MPJs were four factors related to the fast phase of hand grasping motions and eight factors related to the slow phase of hand grasping motions.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.2
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• pp.125-133
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• 2017

This paper presents the inter-rater reliability of finger spasticity assessment tested realized by using finger simulator that mimics finger spasticity of patients after a stroke. For controlling the simulator torque, finger spasticity was modeled, and the model parameters were obtained by measuring quantitative data while grading based on Modified Ashworth Scale (MAS). A robotic finger simulator was designed for mimicking finger spasticity. Evaluation of this simulator with the help of seven rehabilitation doctors showed that the simulator had a Cohen's kappa value of 0.619 for Metacarpophalangeal Joint and 0.514 for Proximal Interphalangeal Joint. Fleiss' kappa between raters is 0.513 for Metacarpophalangeal Joint and 0.486 for Proximal Interphalangeal Joint. Therefore, the spasticity assessment made by MAS grade system is not reliable owing to the subjectivity of the assessment. The proposed robotic simulator can be used as a training tool for improving the reliability of the spasticity assessment.