Hyun Soo Woo

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This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles(More)
This paper presents a prototype system for robot-assisted ultrasound diagnosis. The system includes master-slave configuration integrated with ultrasound diagnostic machine. We designed a new slave robot based on rotary Stewart platform and the conventional US probe is installed inside of the platform and contacts with patient's skin through the hole in the(More)
This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is optimally designed based on the newly defined interventional procedures and the physicians' requirements. It comprises a 2-DOF rotational mechanism for adjustment of needle orientation, a 2-DOF translational mechanism for(More)
It is important to design control configuration for medical robots to allow high fidelity human robot interactions. This paper considers the control configuration for upper limb rehabilitation robotic systems. The considered 11-DOF exoskeleton-type robot enables an grasping motion, an elbow actuation, three wrist actuations, three gleno-humeral joint(More)
It is important to control impedance between a patient and a robot to maximize the effect of the robot rehabilitation therapy. This paper presents a 4 DOF exoskeleton robot for elbow and wrist rehabilitation, which includes a unified actuator module per each joint. The unified actuator module consists of a frameless motor, an incremental encoder, an(More)
It is well known that stroke is the leading cause of long-term disability and the number of stroke patients has been increasing due to the ageing of the population worldwide. Over the past decade, the effort to deliver effective rehabilitation robots especially for stroke patients has also been growing steadily with aims to provide timely and effective(More)
The new passivity condition including the human arm impedance shows that the achievable maximum stiffness at each sampling period depends on the local minimum viscosity of the human arm during the sampling period. Based on the analytical results and the characteristics of the human arm, a new control scheme is proposed to improve the performance of the(More)