Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2019-07-02T02:03:50Z | - |
dc.date.available | 2019-07-02T02:03:50Z | - |
dc.date.issued | 2007-10 | - |
dc.identifier.citation | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Page. 1815-1821 | en_US |
dc.identifier.isbn | 978-1-4244-0911-2 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.issn | 2153-0866 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/4399541 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/106989 | - |
dc.description.abstract | 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. | en_US |
dc.description.sponsorship | This work was supported by the Korea Health 21 R&D Project, Ministry of Health & Welfare, Republic of Korea (02-PJ3-PG6-EV04-0003). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE | en_US |
dc.title | Design of a Spring Backbone Micro Endoscope | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/IROS.2007.4399541 | - |
dc.contributor.googleauthor | Choi, D.-G. | - |
dc.contributor.googleauthor | Yi, B.-J. | - |
dc.contributor.googleauthor | Kim, W.-K. | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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