• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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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.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1990년도 춘계공동학술대회논문집; 한국과학기술원; 28 Apr. 1990
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• pp.151-162
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• 1990

Occupational disease among typists such as Carpal Tunnel Syndrome(CTS) and tendonitis has increased along with rapid expansion of office automation. During typing, the posture can be defined as forearm pronation, ulnar abduction, wrist extension and finger flexion. The CTS results from awkward posture between forearm-wrist-hand and the keyboard arrangement. Therefore, ergonomic principles should be emphasized in keyboard design. The objective of the study is to improve keyboard design by analyzing anatomical posture of forearm and hand during typing. An experimental study was performed to investigate relationships between a keyboard and typing performance. Results showed that typing performance is dependent to angles and slopes of a keyboard. Statistical analysis indicated that the suggested ergonomic keyboard improved typing speed significantly(17%).

• Clinical Pain
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• 제20권2호
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• pp.59-69
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• 2021

Patients with pain, numbness, and weakness in their elbows, wrists, and hands often need proper rehabilitation treatments. Among them, musculoskeletal injection therapy should be performed after a full evaluation of the patient, taking into account history and physical examination leading to clinical diagnosis. General rules such as accurate diagnosis and injection materials selection are used to achieve maximum benefit with minimal side effects. During injection, patient location, aseptic care, penetration techniques, follow-up and follow-up care must be maintained. Specific techniques may vary depending on the type, lesion, and location of the injection therapy. For optimal effectiveness, physician should inject directly into the lesion and avoid the injection of surroundings as much as possible. Therefore, ultrasound-guided injections are needed to accurately inject. These conditions and other conditions of the hands, wrists, and elbows can be effectively diagnosed and treated with diagnostic ultrasound and ultrasound-guided injections.

• 대한의용생체공학회:의공학회지
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• 제43권5호
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• pp.361-368
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• 2022

The purpose of this study was to develop a hand rehabilitation training system for hemiplegic patients. We also tried to find out five hand postures (WF: Wrist Flexion, WE: Wrist Extension, BG: Ball Grip, HG: Hook Grip, RE: Rest) in real-time using multi-channel EMG-based deep learning. We performed a pre-processing method that converts to Spider Chart image data for the classification of hand movement from five test subjects (total 1,500 data sets) using Convolution Neural Networks (CNN) deep learning with an 8-channel armband. As a result of this study, the recognition accuracy was 92% for WF, 94% for WE, 76% for BG, 82% for HG, and 88% for RE. Also, ten physical therapists participated for the usability evaluation. The questionnaire consisted of 7 items of acceptance, interest, and satisfaction, and the mean and standard deviation were calculated by dividing each into a 5-point scale. As a result, high scores were obtained in immersion and interest in game (4.6±0.43), convenience of the device (4.9±0.30), and satisfaction after treatment (4.1±0.48). On the other hand, Conformity of intention for treatment (3.90±0.49) was relatively low. This is thought to be because the game play may be difficult depending on the degree of spasticity of the hemiplegic patient, and compensation may occur in patient with weakened target muscles. Therefore, it is necessary to develop a rehabilitation program suitable for the degree of disability of the patient.

• 대한기계학회논문집
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• 제18권6호
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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.

• 척추신경추나의학회지
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• 제6권1호
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• pp.89-96
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• 2011

Objective : The purpose of this study is to evaluate the korean medical treatment for compressive neuropathy of radial nerve, especially chuna treatment of cervical vertebrae. Methods : Two patients were treated with acupuncture and moxibustion, herbal medication, chuna treatment on cervical vertebrae. To evaluate the wrist drop and numbness of hand, Coding Result of arbitrary values and manual muscle test(MMT), visual analogue scale(VAS) were used. Results : After 2 weeks-treatment(in case 1) & 5 weeks-treatment(in case 2), the movement and power of wrist were restored to nearly normal range, also the numbness of hands was removed. All cases show the improvement in the movement of wrist and the numbness of hands. Conclusions : Korean medical treatment including cervical manual therapy as chuna treatment is remarkably effective for radial nerve palsy. But further studies are required to concretely prove the effectiveness of chuna treatment on central vertebrae for peripheral neuropathy.

• 대한의용생체공학회:의공학회지
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• 제29권1호
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• pp.8-16
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• 2008

The aim of this study was to evaluate the motor recovery in 4 chronic hemiparetic patients with Fugl-Meyer (FM) and EMG characteristics before and after the training program. The training was performed at 1hr/day, 5days/week during 6 weeks in 4 chronic stroke patients. Electromyographic activities of the affected hand were recorded during isometric wrist flexion/ extension movements. In all patients, FM was significantly improved after the 6-week training. Onset/offset delay of muscle contraction significantly decreased in the affected wrist after the training. The co-contraction ratio of flexor/extensor muscles decreased significantly. Also, onset/offset delay of muscle contraction and co-contraction ratio correlates significantly with upper limb motor impairment and motor recovery. This EMG technique allows an objective evaluation of changes in muscle activity in post-stroke patients, providing easily measurable, quantitative indices of muscle characteristics.

• The Journal of Korean Physical Therapy
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• 제31권5호
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• pp.304-310
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• 2019

Purpose: This study examined the work-related musculoskeletal pain and quality of life of hospital workers. Methods: Self-reported questionnaires were sent to 350 hospital workers at Seoul and Gyeonggi-do, of which 341 were returned. The questionnaire had four items that covered the demographic information, areas of musculoskeletal problems, pain rating scale, and quality of life. The analysis was completed using descriptive statistic, and the differences between pain and demographic variables were identified using a chi-square test. The differences between the type of occupation and quality of life were analyzed by one-way analysis of variance and a Kruskal-Wallis test. Results: The 12-month prevalence of work-related musculoskeletal pain was 86.1% of physical therapists, 86.5% of occupational therapists, 77.1% of dental hygienists, and 75.8% of nurses. A significant difference in the general and work related variables was observed between the subject with a physical burden and type of occupation. The most affected pain sites of the physical therapist included low back, hand and wrist, shoulder, and neck. The occupational therapists included the hand and wrist, shoulder, neck, but the nurses and dental hygienists reported the shoulder, back, hand and wrist. A significant difference in the quality of life was noted between the subjects in physical therapists and dental hygienists and the subjects in the nurses and occupational therapists (p=0.00). Conclusion: These findings show that hospital workers appear to be high risk for work-related musculoskeletal pain, and the quality of life of physical therapists and nurses was higher than that of dental hygienists and occupational therapists.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.899-902
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• 2003

This study was tested for the bending stress analysis of hand spl int for Hemiplegic Patients. Hemiplegia was represented the stroke and the cerebral palsy. Hand splints of four materials was an Orthoplast hand splint, a Polypropylene hand splint, a Yogips hand splint and an Aluminum hand splint. The Stress Analysis system was made by the electronic oscilloscope, strain gage sensors, amplifier, A/D converter, PC with C program. It will be able to using the important data in spl int design. The results of analysis were obtained various different graphes and maximum data in an Orthoplast hand splint, a Polypropylene hand splint, a Yogips hand splint and an Aluminum hand spl int.

• 대한인간공학회지
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• 제20권3호
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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.