Seok Chang Ryu

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—Force sensing is an essential requirement for dex-terous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and location of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. We present a(More)
— We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of arthropod limbs, with integral strain sensilla concentrated near the joints. The use of fiber Bragg gratings (FBGs) allows for embedded sensors with high strain sensitivity and immunity(More)
An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the(More)
A side optical actuation method is presented for a slender MR-compatible active needle. The needle includes an active region with a shape memory alloy (SMA) wire actuator, where the wire generates a contraction force when optically heated by a laser delivered though optical fibers, producing needle tip bending. A prototype, with multiple side heating spots,(More)
An active needle is proposed for the development of magnetic resonance imaging (MRI)-guided percutaneous procedures. The needle uses a low-transition-temperature shape memory alloy (LT SMA) wire actuator to produce bending in the distal section of the needle. Actuation is achieved with internal optical heating using laser light transported via optical(More)
Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to(More)
After genome sequence is revealed, it becomes the significant issue to discover the function of genes. The transcriptional regulatory network (TRN), which describes interactions between genes, is the key point to reveal the function of genes. The TRN can be constructed from the experimental data such as gene expression microarray data. Many computational(More)
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