Publication

Hanyang University HumanRobotics Lab

International Conference
Design of a spring backbone micro endoscope
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
D. -G. Choi, B. -J. Yi, and W. -K. Kim
Year
2007
Date
2007.10.29
File
[2007]Dseign of a Spring Backbone Micro Endoscope.pdf (676.7K) 0회 다운로드 DATE : 2020-10-17 22:18:52
This work introduces a modified endoscope structure that employs a spring as its backbone. This design allows backdrivability of the mechanism due to the flexibility of the spring structure. Furthermore, the full 3 DOF motion including compression and two rotational motions can be realized. The geometric analysis, kinematic modeling, and actuator sizing for this device are conducted. Both simulation and experiment have been performed to show the effectiveness of this device.