A5011232432- Advanced Sensor and Energy Harvesting Materials
- Soft Robotics and Applications
- Dielectric materials and actuators
- Robot Manipulation and Learning
- Prosthetics and Rehabilitation Robotics
- Tactile and Sensory Interactions
- Robotic Locomotion and Control
- Muscle activation and electromyography studies
- Advanced Materials and Mechanics
- Robotic Mechanisms and Dynamics
- Robotic Path Planning Algorithms
- Modular Robots and Swarm Intelligence
- Robotics and Sensor-Based Localization
- Ferroelectric and Piezoelectric Materials
- Conducting polymers and applications
- Biomimetic flight and propulsion mechanisms
- Teleoperation and Haptic Systems
- Hydraulic and Pneumatic Systems
- Analytical Chemistry and Sensors
- Power Line Inspection Robots
- Control and Dynamics of Mobile Robots
- Surgical Simulation and Training
- Interactive and Immersive Displays
- Indoor and Outdoor Localization Technologies
- Robotics and Automated Systems
Sungkyunkwan University
2016-2025
Korea Institute of Robot and Convergence
2025
Suwon Research Institute
2018-2020
Government of the Republic of Korea
2018-2020
Korea Institute of Machinery and Materials
2018
University of Nevada, Las Vegas
2013-2017
Pohang University of Science and Technology
2002
Pipelines for the urban gas-supply system require a robot possessing outstanding mobility and advanced control algorithms, since they are configured with various pipeline elements, such as straight pipelines, elbows, branches. We present comprehensive work moving inside underground gas pipelines miniature differential-drive in-pipe robot, called Multifunctional Robot IN-pipe inSPECTion (MRINSPECT) IV. MRINSPECT IV has been developed inspection of nominal 4-in diameter. The mechanism steering...
This paper presents a novel surgical instrument integrated with four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, sensor enables direct sensing of normal and shear forces at tips. Thus, three-DOF pulling single-DOF grasping can be measured for haptic feedback control robotic minimally invasive surgery systems. The consists four transducers, all transducers including analog signal processing units are embedded in small four-DOF is enabled thanks to...
Abstract Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of tasks performed. However, developing integrated without additional actuation parts while maintaining important such as human-level dexterity and grasping force is challenging. The make it difficult integrate these into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an dexterous anthropomorphic hand called ILDA hand,...
As a major human sensory function, the implementation of tactile sensation for human-machine interface has been one core research interests long time. In this paper, an innovative display device based on soft actuator technology is presented. Using electroactive polymer construction device, it can provide stimulation skin without any additional electromechanical transmission. Softness and flexibility structure, ease fabrication, possibility miniaturization, low cost mass production are...
The annelid provides a biological solution of effective locomotion adaptable to large variety unstructured environmental conditions. undulated the segmented body in is characterized by combination individual motion muscles distributed along body, which has been keen interest biomimetic investigation. In this paper, we present an annelid-like robot driven soft actuators based on dielectric elastomer. To mimic unique annelid, novel actuation method employing elastomer developed. By using...
Various functional materials, such as metal nanoparticles, carbon nanotubes and conducting polymers were coated on polymer microspheres finding various uses in electronic biomedical applications. Herein, we demonstrate that single graphene oxide (GO) sheets could be easily wrapped amine-functionalized poly(glycidyl methacrylate) (PGMA-ed) (∼2.5 μm diameter) to form a PGMA-ed/GO core-shell structure with thickness of ca. 50 nm. Subsequently, the synthesized GO-skin consolidated by heating...
A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The F/T developed by using the capacitive transduction principle and capacitance sensing method. consists of only three parts, namely printed circuit board, deformable part, base part. simple configuration leads to simpler manufacturing assembly processes in conjunction with high durability low weight. In this study, instrument installed...
This paper presents a novel six-axis force/torque (F/T) sensor for robotic applications that is self-contained, rugged, and inexpensive. Six capacitive cells are adopted to detect three normal shear forces. cell readings converted F/T information via calibrations transformation. To simplify the manufacturing processes, design with parallel orthogonal arrangements of sensing proposed, which achieves large improvement sensitivity. Also, signal processing realized single printed circuit board...
This paper presents a variable admittance control method to achieve intuitive human-robot interactions that consider human intentions. Human intention is classified into two categories-direct and indirect. With respect direct intention, the concept of standard force introduced adjust interacting force. The proposed improves intuitiveness when velocity used as an estimate intention. In estimation indirect guidance suggested make robot follow guide human. methodology adapted six-DOF...
A novel force-sensing mechanism for surgical robotic systems is required further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, sensorized forceps are presented with five-degree-of-freedom (5-DOF) force/torque (F/T) sensing capability: a grasping force, 3-DOF manipulating and rotational torque acting at the forceps. Two compact force sensors integrated into proximal region on two jaws to measure 5-DOF F/T. The also present important advantages actual use in...
An adhesive with high conductivity, flexibility, cyclability, oxidation resistance, and good adhesion is developed using microscale silver flakes, multiwalled carbon nanotubes decorated nanoscale particles, nitrile butadiene rubber. Light-emitting-diode chips are attached to the conductive, flexible pattern on a poly(ethylene terephthalate) substrate as visual demonstration. The brightness invariant during bending tests. Detailed facts of importance specialist readers published "Supporting...
A tactile display is an important tool to help humans interact with machines by using touch. In this paper, we present a transparent and stretchable graphene-based actuator for advanced displays. The proposed composed of compliant graphene electrodes dielectric elastomer substrate. Since the electrode coated onto appointed region substrate layer layer, only area bumps up in response input voltage, which consequently produces actuation. proven be operable while preserving its electrical...
A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a actuator (DEA). By stacking single layers synthetic elastomer, linear actuator, multistacked is produced, and by mechatronic robotic systems generate motion. In this paper, we demonstrate the application in biomimetic legged robot. miniature robot driven actuation system with four 2-DOF (two-degree-of-freedom) mechanisms realized. Based...
This paper presents an innovative design of a six-axis force/torque sensor, which enables ease manufacturing, cost reduction, and ruggedness in operation. The advantages are realized by simplifying the structure sensor reducing manual labor during manufacturing process. In order to achieve simple structure, we propose capacitive-type force sensing scheme elements aligned in-plane. By using this method, all can be fabricated on single printed circuit board, thus, tasks, such as bonding...
Previous studies reported that a twisted and coiled polymer actuator (TCA) generates strong force large stroke by heating. Nylon 6,6 is known to be the most suitable material for TCA because it has high thermal expansion ratio, softening point toughness which able sustain gigantic twisting. In order find optimal structure of fabricated with silver-coated nylon sewing threads, an equipment twist-insertion (structuralization), composed single DC motor, slider 3D printer body frame, developed....
This paper presents a mechanism for an in-pipe robot, called the Multifunctional Robotic crawler In-pipe inspection VII (MRINSPECT VII), which is under development of gas pipelines. Applicable pipeline diameters are from 150 to 200 mm. The robot based on multiaxial differential gear and designed adapt varying inside geometries pipelines, such as elbows, by mechanically modulating velocities active wheels without any control effort. In addition mechanism, MRINSPECT equipped with adhesion...
The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness weight, and safety toward human organ. However, it cannot be used widely because of difficulty control. To control a accurately, shape sensing essential. This paper presents method estimating by using skin-type stretchable sensor composed multiwalled carbon nanotube (MWCNT) silicone (p7670). can easily fabricated applied simply attaching to surface manipulator. In fabrication,...