11 citations · 16 across the 4 of their papers we have counts for
5 papers
Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations
Hyojae Park, Arjun S. Lakshmipathy, Nancy S. Pollard
We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories,…
SIMS: Surgeon-Intention-driven Motion Scaling for Efficient and Precise Teleoperation
Jeonghyeon Yoon, Sanghyeok Park, Hyojae Park +3
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision…
SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
Junhyun Park, Seonghyeok Jang, Myeongbo Park +3
Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM wi…
Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern
Jeonghyeon Yoon, Junhyun Park, Hyojae Park +3
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance beca…
Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network
Junhyun Park, Seonghyeok Jang, Hyojae Park +2
Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face contr…