20 accepted papers
Resolving disorientation of the surgeon caused by wrong recognition of scope’s position, which often increases procedural time and workload, remains a significant challenge in robotic-assisted retrograde intrarenal surgery (RIRS). This paper introduces a novel hybrid ureteroscope tracking algorithm …
This study introduces the soft tactile electromagnetic (STEM) actuator, a compact and wearable haptic device designed to deliver multimodal tactile feedback in virtual environments. The actuator employs soft materials as both an energy-storing and encasing structure, enabling out-of-plane deformatio…
Electrostatic (ES) clutches are promising candidates for wearable and assistive robotics due to their thin, lightweight, and low-power characteristics. However, conventional ES clutches typically suffer from mechanical instability caused by the stick-slip phenomenon, restricting their operation to s…
Resolving disorientation of the surgeon caused by wrong recognition of scope's position, which often increases procedural time and workload, remains a significant challenge in robotic-assisted retrograde intrarenal surgery (RIRS). This paper introduces a novel hybrid ureteroscope tracking algorithm
This study introduces the soft tactile electromagnetic (STEM) actuator, a compact and wearable haptic device designed to deliver multimodal tactile feedback in virtual environments. The actuator employs soft materials as both an energy-storing and encasing structure, enabling out-of-plane deformatio
As cars evolve from mere modes of transportation into living spaces, the importance of haptic interaction with vehicles is increasing. Here, we introduce a hybrid haptic device for the virtual prototyping of car doors, employing both the motor and brake. Physical prototyping, which is a conventional
This letter proposes a novel wearable robot designed to assist with shoulder abduction using a double-petal mechanism based on petal fold origami driven by shape memory alloy (SMA)-based artificial muscle. The proposed double-petal mechanism consists of two petal structures that mimic the scapula an
Hyper-redundant manipulators have been developed for hazardous environment exploration due to their flexibility and high agility in workplace. In this research, we designed a hyper-redundant manipulator by integrating Twisted String Actuators (TSAs) and Rolling Contact Joints (RCJs) to overcome the
Miniaturization of robotic grippers enables precise manipulation of small-size objects. However, most microgrippers are actuated by rigid actuators, and thus retain challenges such as micro-fabrication, complex structure, and lack of compliance. Here, we present a compliant microgripper driven by a…
This letter proposes a novel prosthetic wrist that emulates the anatomical structure of the human wrist, specifically the wrist bones and muscles responsible for wrist movements. To achieve a range of motion (ROM) and load-bearing capacity comparable to the human wrist joint, we designed an elliptic
This letter proposes a new mechanism, a four-bar linkage-based support hinge mechanism, for assisting with shoulder abduction with artificial muscle based on a shape memory alloy (SMA). An artificial muscle using the SMA coils is designed to lighten the entire system and support the wearer's movemen
In this letter, we developed a monolithic flexure-based three-axis ground reaction force (GRF) sensor to analyze various gaits, including walking, running, and jumping. The GRF sensor requires different force capacities on each axis. In order to satisfy the force range requirements, a simple circula
Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to es…
This letter proposes a soft wearable robot with shape memory alloy (SMA)-based artificial muscle to assist with upper limb motion. The SMA-based artificial muscle was designed by embedding a bundle of SMA coil springs into a stretchable coolant vessel, which allows active cooling of the SMA bundles
A colonoscopy is the most typical method to inspect for colorectal cancer; however, inserting colonoscopes in nonfixed sites, such as the sigmoid colon, requires very skilled insertion techniques. Since the sigmoid colon is one of the most difficult nonfixed sites for insertion, straightening it is
There are two corresponding authors who have contributed to this letter, yet only one of them has been mentioned as the corresponding author in the original letter. As a result, “Ki-Uk Kyung” was added to footnote as a co-corresponding author. The changes have been reflected as follows.
Dielectric elastomers are electro-mechanically coupled transducers that display a nonlinear viscoelastic stress-strain relationship. Modeling and controlling such nonlinear materials and actuators are of great challenge. A spring roll dielectric elastomer actuator is a linear actuator composed of a…
This letter presents a novel soft vibrotactile interface with a wide acceleration bandwidth that can be applied to a curved surface, such as a steering wheel. This haptic interface utilizes the surface charge-inducing characteristic of polyvinyl chloride (PVC) gel and adopts a design where hydraulic
This paper proposes a muscle-like SMA (Shape Memory Alloy) actuator with an active cooling system for efficient response. An SMA coil spring is embedded into a stretchable coolant vascular for soften structure of robots. In order to design a flexible, lightweight, and fast-response soft actuator wit…
In this paper, we report a self-sensing soft tactile actuator based on Dielectric elastomer actuator (DEA) for wearable haptic interface. DEAs are one of electroactive polymer actuators, which are reported to have large area strain and fast response speed. A soft tactile actuator is constructed of a…