A5072713763- Tactile and Sensory Interactions
- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Surgical Simulation and Training
- Social Robot Interaction and HRI
- Robot Manipulation and Learning
- Interactive and Immersive Displays
- Robotics and Automated Systems
- Robotic Mechanisms and Dynamics
- Dynamics and Control of Mechanical Systems
- Virtual Reality Applications and Impacts
- Multisensory perception and integration
- Gaze Tracking and Assistive Technology
- Augmented Reality Applications
- Anatomy and Medical Technology
- Hand Gesture Recognition Systems
- Advanced Sensor and Energy Harvesting Materials
- Robotics and Sensor-Based Localization
- Context-Aware Activity Recognition Systems
- Robotic Locomotion and Control
- Orthopaedic implants and arthroplasty
- Emotion and Mood Recognition
- Minimally Invasive Surgical Techniques
- Robotic Path Planning Algorithms
- Speech and dialogue systems
Korea Advanced Institute of Science and Technology
2016-2025
RTI Surgical (United States)
2021
Korea Institute of Science & Technology Information
2020
Daejeon University
2019
Korea Institute of Robot and Convergence
2006-2018
Daejeon Institute of Science and Technology
2017
Kootenay Association for Science & Technology
2013
Korea Research Institute of Standards and Science
2012
Korea Institute of Science and Technology
2008-2009
Hosei University
2009
Abstract Background Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with payload capability sufficient to perform advanced procedures. Methods A robotic platform, K‐FLEX, has been developed a design of 17 mm in overall diameter. To overcome the shape distortion deflection handling, strong continuum manipulator designed maximum resistance distortion. The kinematic analysis mapping strategy established for...
The trend of achieving minimal invasiveness in surgeries and recent technological advances robotics have resulted the emergence flexible surgical robots. Such robots can reach a site via narrow tortuous pathways, extending robotic surgery potentially reducing incision size. This review covers key technical issues associated with introduces emerging robot systems organized according to their target applications endoluminal field. Furthermore, challenges advancements manipulator design,...
A highly stretchable and tissue-adhesive multifunctional sensor based on structurally engineered islets embedded in ultra-soft hydrogel is reported for monitoring of bladder activity overactive (OAB) induced rat anesthetized pig. The use yielded a much lower modulus (1 kPa) compared to that the (300 kPa), while strong adhesiveness (adhesive strength: 260.86 N/m) allowed firm attachment onto bladder. change resistance printed liquid metal particle thin-film lines under strain were used detect...
A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots teleoperators. If is significant, position control of the manipulator’s end-effector exhibits nonminimum-phase, noncollocated, flexible-structure problems. This paper addresses inverse dynamic trajectory planning issues single-link flexible manipulator. The equation was solved in time-domain. By dividing into its causal part anticausal part, method...
We present a baseline convolutional neural network (CNN) structure and image preprocessing methodology to improve facial expression recognition algorithm using CNN. To analyze the most efficient structure, we investigated four structures that are known show good performance in recognition. Moreover, also effect of input methods. Five types data (raw, histogram equalization, isotropic smoothing, diffusion-based normalization, difference Gaussian) were tested, accuracy was compared. trained 20...
Owing to the trend toward minimally invasive surgery, manipulators are in demand achieve more accessibility, agility, and miniaturization. However, conventional not flexible, miniaturized, or strong enough perform surgical procedures deep, confined spaces. Moreover, continuum manipulator has additional problems caused by redundancy, such as shape-distortion, deflection, wire overtension occurring during payload handling. To overcome these problems, a novel constrained (CC) is proposed. The...
This article proposes an automatic fall detection method for a wearable device that can promptly alert caregivers when is detected, which could reduce the injuries of elder people. To do this, we propose novel generative adversarial network (GAN-) based using heart rate sensor and accelerometer. Acquiring data compared with normal behavioral be arduous process. Instead, introduce compelling GAN-based anomaly partially surrounded User Initial information features (UI-GAN). Although methods...
Magnetorheological (MR) actuators provide controlled torque through control of an applied magnetic field. Therefore knowledge the relationship between current and output is required. This paper presents a new nonlinear modeling MR considering hysteresis to determine torque-current relationship. Equations for transmitted are derived according mechanical shear configurations actuator. Hodgdon's model used capture characteristics nonlinearity in actuators. An actuator test setup has been...
A general framework for expanding the time-domain passivity control approach, to large classes of systems is proposed. We show that can be described from a network point view. Based on presentation, are analyzed in unified framework. In this model, we define "virtual input energy", which virtual source energy control, and "real output energy" physically transferred plant allow concept used study stability systems. For guaranteeing condition, controller two-port applied. Design procedure...
A new interfacing method is presented to control mobile robot(s) in a supervised manner. Mobile robots often provide global position information an operator. This research describes whereby the operator controls using his finger or stylus via touchpad touch screen interface. Using mapping between robot's operational site and input device, human user can routing for robot. Two algorithms have been developed create robot trajectory from operator's input. Information regarding numerous path...
This paper proposes an automatic fall detector in a wearable device that can reduce risks by detecting falls and promptly alerting caregivers. For this purpose, we propose cluster-analysis-based user-adaptive detection using fusion of heart rate sensor accelerometer. The objectives the proposed are to have high accuracy with low-complexity model regardless diverse conditions. To meet objectives, best 13-dimensional feature subset selection. In addition, verify performance increment combining...
We propose an electromagnetic-based braille display that can represent two-dimensional information. The key principle is a flip-latch structure, which allows satisfying requirements of both protrusion force for recognition and low power consumption. A magnet-inserted has eccentric shape, driven by flips over the protruded voice coil pushing pin. Then it acts as latch to lock maintain pin without additional energy manufacture modules arrange them into with total 192 pins (16 columns 12 rows)....
An inverse dynamic equation for a flexible manipulator is derived in state form. By dividing the system into causal part and anticausal part, we can calculate torque time domain certain end point trajectory, as well trajectories of all variabls. The open loop control method shows an excellent result simulation. For practical applications, strategy adapting feedback tracking to feedforward illustrated, its good experimental presented.
In these days, tactile sensation using a vibration motor is recently receiving attention for immersive interaction with mobile devices. However, the not enough to provide detailed texture or small-scale shape. order generate various and exiting sensation, this paper presents new actuator solenoid, permanent magnet an elastic spring. This also proposes miniature module proposed actuators. On constructing module, we separate springs in actuators into several layers minimize contactor's gap...
For safety enhancement reasons, passive gravity compensation is widely applied in robotic systems used minimally invasive surgery (MIS). MIS have a remote center of motion (RCM) which surgical instrument conducts fulcrum around point invasion. RCM mechanisms include three-degrees-of-freedom (3-DoF): roll, pitch, and translation. Existing studies to date focused on multi-degrees-of-freedom by installing springs wires robot. However, mechanism with 3-DoF that simultaneously uses all...
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting from composition such as backlash hysteresis dead zone, which lead a considerable challenge for achieving precise control of the end effector pose. However, many recent works literature do not consider...
This paper proposes a tactile display device providing pin-array type feedback and thermal feedback. The is composed of 6times5 that actuated by 30 piezoelectric bimorphs. Micro shape vibrotactile can be generated the device, various planar distributed patterns displayed as braille cell patterns. thin film resistance temperature detector (RTD), Peltier thermoelectric heat pump water cooling jacket. Users discriminate among different materials considering variation sensed they touch an...
Although people usually contact a surface with some area rather than point, most haptic devices allow user to interact virtual object at one point time and likewise rendering algorithms deal such situations only. In palpation procedure, medical doctors push rub the organ's surface, are provided sensation of distributed pressure force (reflecting force) for discerning doubtable areas organ. this paper, we suggest real-time area-based describe simultaneously, present interface system generate...
We demonstrate a robust flexible tactile actuator that is capable of working under high external pressures. The based on pyramidal microstructured dielectric elastomer layer inducing variation in both mechanical and properties. vibrational performance the can be modulated by changing geometric parameter microstructures. evaluated high-pressure loads up to 25 kPa, which over typical range pressure applied when humans touch or manipulate objects. Due benefit nonlinearity structure, could...