• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• Journal of Bone Metabolism
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• v.25 no.4
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• pp.243-249
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• 2018

Background: The aim of this study was to determine the accuracy and error range of hand grip strength measurement using various methods. Methods: Methods used for measurement of hand grip strength in 34 epidemiologic studies on sarcopenia were analyzed. Maximum grip strength was measured in a sitting position with the elbow flexed at 90 degrees, the shoulder in 0 degrees flexion, and the wrist in neutral position (0 degrees). Maximum grip strength in standing position was measured with the shoulder in 180 degrees flexion, the elbow fully extended, and the wrist in neutral position (0 degrees). Three measurements were taken on each side at 30 sec intervals. The uncertainty of measurement was calculated. Results: The combined uncertainty in sitting position on the right and left sides was 1.14% and 0.38%, respectively, and the combined uncertainty in standing position on the right and left sides was 0.35 and 1.20, respectively. The expanded uncertainty in sitting position on the right and left sides was 2.28 and 0.79, respectively, and the expanded uncertainty in standing position on the right and left sides was 0.71 and 2.41, respectively (k=2). Conclusions: Uncertainty of hand grip strength measurement was identified in this study, and a significant difference was observed between measurement. For more precise diagnosis of sarcopenia, dynamometers need to be corrected to overcome uncertainty.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• The Journal of Korean Medicine
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• v.28 no.3 s.71
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• pp.13-22
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• 2007

Objectives : To obtain pulse information, oriental medical doctors usually use the three finger pulse diagnosis method. Although the diagnostic positions are very important, the exact positions are not known because of the uncertain conversion of measures of length (bun, chon, chuk) and misunderstanding of the related concepts of oriental medicine. In this study, we proposed relative positions for the detection of three pulses with a pulse analyzer. Methods : The proposal was made based mainly on several literature reviews, especially the original texts, and the examination of anthropometric characteristics of 78 individuals. Results : The Kwan is the spot where the radial pulse can be felt well near the eminent head of the radius at wrist, high bone. The position of Chon should be apart from Kwan by 6/10 distance between the high bone and wrist joint of each individual. Finally, the position of Chuk is apart from Kwan by 6.5/100 distance between the high bone and the elbow joint of each individual. Conclusions : Adapting those proposed positions for measuring three pulses can provide more consistent information to what an oriental doctor obtains than a pulse analyzer applied to other positions.

• PNF and Movement
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• v.19 no.3
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• pp.391-399
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• 2021

Purpose: As laptop use increases throughout the COVID-19 pandemic and its use outside of traditional workstations proliferates, it is imperative to expand the limited research available regarding ergonomic exposure. This study aimed to identify the effects of a laptop supporter on biomechanical characteristics in the wrist joint muscles of healthy young adults. Methods: This was a cross-sectional observational study design with thirty-four healthy young adults as participants. They conducted a typing exercise performed under two different conditions, which were with and without a notebook computer supporter. This study measured the biomechanical characteristics of the muscles of the wrist joints including the flexor carpi ulnaris (FCU), the flexor carpi radialis (FCR), the extensor carpi radialis longus (ECRL), and the extensor carpi ulnaris (ECU). Measurements were taken three times: before typing, immediately after typing for 30 minutes with a supporter, and immediately after typing for 30 minutes without a supporter. The statistical method to compare the three different measurement conditions was the repeated measures ANOVA. Results: The participants showed significantly different levels of dynamic stiffness in both the FCU before typing and immediately after 30 minutes of typing with a supporter, and showed significantly different levels of dynamic stiffness in the FCR before typing and immediately after 30 minutes of typing with a supporter. The dynamic stiffness level immediately after 30 minutes of typing without a supporter was significantly different than that immediately after 30 minutes of typing with a supporter. However, the muscle tone was not significantly different among the three different conditions. Conclusion: The results of this study revealed that a laptop supporter used to correct the eye level of the electronic screen increases the dynamic stiffness of the wrist joint flexors, so it is necessary to consider the neutral position of the wrist joint during typing.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.34-39
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• 2001

• Physical Therapy Korea
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• v.17 no.2
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• pp.10-16
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• 2010

This study was undertaken to develop the scapulometer, a measuring tool for scapular winging, and to determine the reliability of scapulometer. Thirty subjects with scapular winging greater than 2 cm participated in this study. Two examiners measured scapular winging using the scapulometer. Standardized measurement position of each subject was as follows: neutral position of shoulder and wrist, $90^{\circ}$ flexion of elbow, and cuff weight of 5% and 10% of body weight (BW) to neutral wrist. The interrater and intrarater reliability were calculated with an intraclass correlation coefficient (ICC) with 95% confidence interval (CI) and standard error of measurement (SEM) at 5% BW and 10% BW. The level of scapular winging was tested between 5% BW and 10% BW with a paired t-test. The interrater reliability was shown to be high at 5% BW (ICC(2,k)=.955, 95% CI=.900~.979, SEM=.07) and at 10% BW (ICC(2,k)=.968, 95% CI=.930~.985, SEM=.06). The intrarater reliability was shown to be high at 5% BW (ICC(2,k)=.921, 95% CI=.842~.961, SEM=.09) and at 10% BW (ICC(2,k)=.906, 95% CI=.813~.954, SEM=.10). The level of scapular winging was significantly different between 5% BW and 10% BW. Conclusively, it is demonstrated that the scapulometer is an objective and qualitative measurement tool for scapular winging.

• The Research Journal of the Costume Culture
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• v.6 no.4
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• pp.229-237
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• 1998

The ventilation efficiency of clothing was investigated by a trace gas method using a manikin wearing an impermeable overall under an isothermal condition, where the ventilation occurred only through the openings by diffusion. The ventilation patterns were different for each part of the body. The ventilation efficiency in the clothing microenvironment of the arm and the leg greatly depended on the distance from each opening when the wrist- or the ankle-opening was opened. When both side of wrist- or ankle-openings were opened to provide the opening area double respectively, the ventilation efficiency did not correspondingly increase twice, as compared one side opened. Even though it as certainly affected by the opening area, the ventilation efficiency was more significantly influenced by the position of openings.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.