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Multi-Jointed Integrated Medical Instrument System for Single Port Access Laparoscopic Surgery
Hyunhwan Jeong,Joono Cheong,Sunil Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper,we present a new medical instrument system for the single port access laparoscopic surgery. Our instrument system makes that surgeon can control the instrument intuitively and has 6 degree of freedoms(DOFs), enough for single port access laparoscopic surgery. This multi-joint structure makes easy to avoid obstacle in laparoscopic surgery. We detail the design concept of our medical instrument system using the 3D design model and manufactured the hardware instrument system. To examine the effectiveness of the device, we obtain the work space of the device and check whether the stiffness of tendon-driven instrument system is enough for the operation.
Evaluation of 3D grasps with physical interpretations using object wrench space
Jeong, Hyunhwan,Cheong, Joono Cambridge University Press 2012 Robotica Vol.30 No.3
<B>SUMMARY</B><P>In this paper we propose an intuitive and practical grasp quality measure for grasping 3D objects with a multi-fingered robot hand. The proposed measure takes into account the object geometries through the concept of object wrench space. Physically, the positive measure value has a meaning of the minimum single disturbance that grasp cannot resist, while the negative measure value implies the minimum necessary helping force that restores a non-force-closure grasp into a force-closure one. We show that the measure value is invariant between similar grasps and also between different torque origins. We verify the validity of the proposed measure via simulations by using computer models of a three-fingered robot hand and polygonal objects.</P>
Jeong, Hyunhwan,Kang, Bongki,Cheong, Joono Cambridge University Press 2018 Robotica Vol.36 No.11
<B>SUMMARY</B><P>This paper proposes a new antagonistic tendon-driven joint (TDJ) that exhibits higher stiffness and larger travel range than conventional types of TDJs. A detailed mathematical analysis of the stiffness of the proposed TDJ is conducted and compared to other TDJs. The effect of the tendon length is taken into consideration to establish a more precise and realistic stiffness model of the proposed TDJ. Thereafter, two hardware prototypes of the proposed TDJ design, developed in the form of a packaged modular structure that integrates two TDJs, are introduced. Using these prototypes, the stiffness characteristics of the proposed TDJs are verified through experimentation. Additionally, experimental results on the stiffness behavior during the mimicked needle insertion tasks are provided. Results show that the proposed TDJs present much higher stiffness than conventional ones and thus give a potential benefit to precision manipulation.</P>
Tendon-Driven Multi-DOFs Mini Manipulation System with Micro Camera
Hyunhwan Jeong,Jongwoo Park,Youngsu Cho,Joono Cheong 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, we present a tendon-driven small manipulator system and its control algorithm guided by vision. Our tendon-driven small manipulator has total 6 degrees of freedom, which are enough for working either stand-alone or together with macro-manipulator. In order to overcome inherent positioning inaccuracy of the tendon-driven mechanism, we propose to use vision as a means to perform tasks correctly. We show kinematic, workspace and stiffness analysis of the mini manipulations system.
Design of Hybrid Type Robotic Hand
Hyunhwan Jeong,Joono Cheong 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, we present a new robotic hand ‘KU hybrid HAND’ which can generate multiple modes of postures. Our hand has a hybrid mechanism realizing the two modes, which are human-like hand type and conventional robot hand type. It has four fingers, total 13 degrees of freedom(DOFs) by 13 actuators; the thumb has 4 DOFs and the three other fingers have three DOFs per each finger. We detail the design concept, kinematic analysis and functions of our hybrid robotic hand.