• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.1038-1042
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• 2003

In order to evaluate dynamic impedance of a hand-arm system it is necessary to measure the hand-transmitted vibration and the reaction force at the same time while gripping the vibrating handle. In the study a device was developed to measure both the vibration and the force. The device consists of a measurement handle with four strain gauge and two accelerometers and a PC based control system with a program for the signal processing and evaluation of the hand-transmitted vibration and reaction force. The handle was installed on the vibration shaker so that it can move by the generated signal from the control system. As an application of the system dynamic reaction force and the frequency weighted acceleration at the handle attached to the shaker were measured at various grip force and feed force. This system will be very useful in the area of impedance measurement and the evaluation of performance of anti-vibration gloves.

• 대한인간공학회지
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• 제24권2호
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• pp.45-49
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• 2005

The FSA(Force Sensitive Application) system measures hand force by using force resistance sensors. Compared to conventional hand force measurement systems such as Lafayette hand dynamometer and Jamar hydraulic hand dynamometer, the FSA system can be applied to analyze use of hand forces while the hand is manipulating objects for a task, However, the measurement performance of the FSA system has not been objectively evaluated. The present study tested the FSA system in terms of stability, repeatability, accuracy, and linearity. It is shown that the FSA system has good stability (CV$\leq$0.02) and linearity($R^2$=0.82), but has low repeatability(CV=$0.11{\sim}0.19$) and accuracy(22% of underevaluation on average). This performance result indicates that measurements from the FSA system should be used for relative comparison rather than for absolute comparison.

• Journal of Biosystems Engineering
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• 제29권3호
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• pp.251-260
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• 2004

As a basic experiment for robot hand for transplanting plug seedling, the experimental robot hand system which moves up and downward vertically, and allows hand blade to open and close was made. The system was constructed with the robot hand mechanism, the tray, the plug seedling, and the measuring equipments. The penetrating force and holding efficiency were analyzed according to the soil moisture and the variation of hand blade angle. The highest holding efficiency could be obtained at the penetrating angle of approximately from 0 to 0.36 degree and at the moisture content of soil from 71% to 75%. The external force acted on the robot hand should maximum force when the robot hand was penetrated to soil, minimum of approximately 30.4 N when the penetrating angle was 0$^{\circ}$ and moisture content was 66-70%. It was increased with increasing or decreasing the Penetrating angle from 0 degree and also with increasing or decreasing the moisture content of soil from 66-70%. For optimal design of the robot hand and manipulator, the external force acted on robot hand had to be based on the returning force of soil, when the robot hand was penetrated to the soil. In consideration of safety ratio, the appropriate external force seemed to be 39-49 N.

• 로봇학회논문지
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• 제10권4호
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• pp.179-185
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• 2015

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• 대한인간공학회지
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• 제26권3호
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• pp.59-65
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• 2007

In this study, six grip spans (45mm-65mm) were tested to evaluate the effects of handle grip span and user's hand size on maximum grip strength, individual finger force, and subjective ratings of comfort using a digital dynamometer with individual force sensors. Forty-six males were assigned into three hand size groups according to their hand lengths. Results showed that overall 55mm and 50mm grip spans were the most comfortable sizes and associated with the highest grip strength in the maximum grip force exertions, whereas 65mm grip span was rated as the least comfortable size as well as the lowest grip strength. In the interaction effect of grip span and hand size, small and middle hand sized participants rated the best preference and the least preference grip spans differently with large hand sized participants. With respect to the analysis of individual finger force, the middle finger force was the strongest and the highest contribution to the total finger force, followed by ring, index and little fingers. In addition, it was noted that each finger had a different optimal grip span for exerting maximum force resulting in a bowed contoured shaped handle for two-handle hand tools. Thus, the grip spans for two-handle hand tools might be designed according to the users' hand and finger anthropometrics to maximize performance and subjective perception of comfort.

• PNF and Movement
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• 제20권1호
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• pp.73-81
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• 2022

Purpose: The aim of this study was to present specific criteria for setting goals for hand rehabilitation by comparing the degree of difference in grip force, coordination, and dexterity between the dominant and non-dominant hand according to gender. Methods: We recruited 100 healthy adults in their 20s and 30s. A handheld digital dynamometer was used to evaluate the grip force of each of the dominant and non-dominant hand, a chopsticks manipulation test was used to evaluate coordination, and the Purdue Pegboard test was used to evaluate agility. Results: In all subjects, the grip force, coordination, and dexterity showed statistically significant difference (p <0.01) between the dominant and non-dominant hand. In the comparison according to gender, both male and female dominant and non-dominant hands showed statistically significant differences in grip force, coordination, and dexterity (p <0.01). In the comparison according to grip force, there was a statistically significant difference between the dominant and non-dominant hand, and men showed stronger result values in both hands compared to women (p <0.01). In the comparison according to coordination, there was no statistically significant difference between the dominant and non-dominant hand in men and women (p >0.05). In the comparison according to dexterity, there was a statistically significant difference between the dominant and non-dominant hand, and women were shown to be faster in performance time with both hands, compared to men (p <0.01). Conclusion: Differences according to gender exist in grip force and dexterity but not coordination, and differences between dominant and non-dominant hand exists across all measurements. The results suggest setting a recovery goal according to dominance and gender during rehabilitation of hand function.

• 센서학회지
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• 제15권6호
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• pp.411-416
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• 2006

This paper describes the development of a 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand. In order to safely grasp an unknown object, robot's hand should measure the weight of an object and the force of grasping direction simultaneous. But, in the published papers, the grippers and hands equippd with the force sensor that could only measure the force of grasping direction, and grasped objects using their sensors. These grippers and hands can't safely grasp unknown objects, because they can't measure the weight of it. Thus, it is necessary to develop 3-axis force sensor that can measure the weight of an object and the force of grasping direction for an intelligent gripper. In this paper, 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand was developed. In order to fabricate a 3-axis finger force sensor, the sensing elements were modeled using parallel plate beams, and the theoretical analysis was performed to determine the size of sensing elements, then the 3-axis finger force sensor was fabricated. Also, the characteristic test of the developed 3-axis finger force sensor was performed.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 한국운동역학회지
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• 제31권4호
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• pp.227-233
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• 2021

Objective: The purpose of this study was to in this study. The maximum grip force of the elderly hand was measured using a custom-designed grasping apparatus mounted with five three-component force transducers. The Jebsen-Tayler hand function test and Purdue Pegboard test were performed to evaluate the dexterity of the hand. Method: Twenty-six elderly women participated in the left hand between the maximum grip force and the Jebsen-Taylor hand function test results (r=-.513, p=.007). A significant correlation was also shown in the hand maximum grip force and the hand Purdue Pegboard results (r=.514, p=.007). However, no significant correlation was found in the right hand. Results: We found a significant correlation investigate the relationship between hand grip strength and hand dexterity in the elderly. Conclusion: Our findings in the current study support the theory of 'Strength-dexterity complementariness' which states that improvement in dexterity is associated with the grip force strength.