Jae Heon Chung

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In this paper, a collision detection and identification method of a manipulator, using base and wrist force/torque sensors, is presented. An impact model is used to simulate the interaction between the manipulator and the human or environment. A neural network approach and a model based method are developed to detect the collision forces and disturbance(More)
The pathway to the maxillary sinus area is anatomically curved and narrow. Thus, using the conventional approach based on the straight endoscope and surgical tools, there are some limitations in inspection and treatment of the target legion of the maxillary sinus. To cope with such problems, a dual master-slave system is investigated in this work for(More)
This paper deals with a new 3-degree-of-freedom (DOF) parallel mechanism for a flat-panel TV mounting device with two rotations and one translation. The most important operational requirements of this device are that it should support the heavy weight of the flat-panel TV and should be foldable to save space between the flat panel and the wall. An(More)