Yesung Yi — accepted AI-conference papers

2024

Tension Maintenance Mechanism for Control Consistency of Twisted String Actuation-Based Hyper-Redundant Manipulator

RA-L 2024

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

Cited by 1 Source ↗Scholar ↗

2022

Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator

Yesung Yi, Jung-Hwan Youn, Ki-Uk Kyung, Dong-Soo Kwon

IROS 2022poster

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…

Cited by 2 Source ↗Scholar ↗