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Chapter and Conference Paper
Kinematic Analysis of a Novel Actuation Redundant 3-DOF Parallel Manipulator Based on Parallelogram-Linkage
The passive joints occurring in the parallel robots require additional steps to be calculated, which may lead to complicated analytical kinematic and dynamic models, become burdens to derive these mathematical...
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Article
Development of a new 3T1R type cable-driven haptic device
In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which ...
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Article
Semi-automatic Knob System for Assisting Flexible Endoscope Steering
In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend the bending part is increased proportionally to th...
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Article
Design and Experimental Verification of a 3-DOF Spherical Electromagnetic Brake for Haptic Interface
Electromagnetic brake is an efficient device that provides dam** to stop the undesired motion of the manipulator. A spherical design of electromagnetic brake is presented with a simple and compact alternativ...
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Article
Design and Clinical Test of a Passive Ultrasound Probe Holder Mechanism for Arterial Puncturing
This paper proposes a new ultrasonography guided arterial puncturing and guidewire insertion mechanism. In conventional arterial puncturing, a physician holds an ultrasound probe in one hand and a needle in th...
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Article
Shape and Contact Force Estimation of Inserted Flexible Medical Device
Flexible devices such as colonoscopy tube or catheter being inserted into the human-body make contact with the human tissues at several locations. Excessive contact force may damage the human tissues. To cope ...
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Article
Analysis of duality-based interconnected kinematics of planar serial and parallel manipulators using screw theory
In this paper, a method has been proposed to analyze the planar architectures of serial and parallel manipulators, based on the duality associated with their interconnected kinematics. The interconnected kinem...
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Article
Open AccessReduction of radiation exposure to operating physician and assistant using a real-time auditory feedback dosimeter during femoral artery puncturing: a study on swine model
Real-time dosimeters may create a relatively safer environment not only for the patient but also for the physician and the assistant as well. We propose the use of a real-time radiation measurement dosimeter h...
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Article
Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation
A numerically efficient force distribution method for actuator saturation avoidance is proposed, which is applicable to two different types of the mechanisms with two degrees of actuator redundancy, parallel m...
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Article
Open AccessReduction of operator radiation exposure using a passive robotic device during fluoroscopy-guided arterial puncture: an experimental study in a swine model
Vascular interventions imply radiation exposure to the operating physician (OP). To reduce radiation exposure, we propose a novel passive robotic device for fluoroscopy-guided arterial puncturing.
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Article
Task-oriented type synthesis of the lower-mobility parallel mechanisms with a common platform
A systematic procedure for the task-oriented type synthesis of parallel mechanisms (PMs) with a common platform is proposed in this study. The method is composed of two stages. In the first stage, constraint w...
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Article
Motion optimization of human body for impulse-based applications
This paper presents the optimal motion generation of the kinematic redundant human body model for impulse-based applications. Inspired by effective and safe motion generation of the human body, we propose a m...
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Article
Development of a new neurosurgical 5-DOF parallel robot for stereotactic DBS operations
In this study, a new 5-degree of freedom parallel-type robot for neurosurgery is developed and investigated for potential application in deep brain surgery (DBS). The neurosurgical robot consists of the base p...
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Article
Analytical model of variable characteristic of coefficient of restitution and its application to ball trajectory planning
In this article, we investigate the behavior of the coefficient of restitution (COR) which is an important parameter in many impact-related fields. In many cases, the COR is considered as a constant value, but...
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Article
Multi-group localization problem of service robots based on hybrid external localization algorithm with application to shop** mall environment
Intellectualization of life is a general tendency due to the proliferation of technology and science. Based on this concept, this paper presents multi-group localization algorithms and detection algorithms for...
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Article
ASC localization in noisy environment based on wireless sensor network
This study investigates indoor localization problem of robot or a customer at shop** mall environment. To improve the localization accuracy, a sensor fusion-based approach is employed, which combines data fr...
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Article
Design of a new 6-DOF parallel mechanism with a suspended platform
This paper deals with the kinematics and analysis of a new parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are...
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Article
ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground
The human body can be modeled as a kinematically redundant manipulator which exploits “redundant degrees of freedom” to execute various motions in a suitable fashion. Differently from the typical kinematically...
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Article
Suspension laryngoscopy using a curved-frame trans-oral robotic system
Suspension laryngoscopy has been employed for laryngeal diseases such as treatment for a polyp, cystoma, or granuloma. After securing a straight path with a laryngoscope, the surgeon inserts rigid instruments ...
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Article
Stiffness modeling of a soft finger
This paper presents the design and stiffness modeling of a new 3 DOF soft finger mechanism using a spring as a backbone. The mechanism consists of a spring and 3 cylinders, which behave like joints. To control...
