Publication

Hanyang University HumanRobotics Lab

International Journal
Design of a master device for controlling multi-moduled continuum robots
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol
Vol. 231, No. 10
Page
pp. 1921-1931
Author
H.-S. Yoon, B.-J. Yi
Year
2017
Date
2017.05
File
Design of a master device for controlling multi-moduled continuum robots.pdf (2.1M) 0회 다운로드 DATE : 2020-10-18 17:16:56
Abstract: Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.