Uikyum Kim

Uikyum Kim
Ajou University · Department of Mechanical Engineering

PhD

About

63
Publications
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1,125
Citations

Publications

Publications (63)
Article
A novel force-sensing mechanism for surgical robotic systems is required for further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel sensorized surgical forceps are presented with 5-degree-of-freedom (DOF) force/torque (F/T) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational tor...
Article
This study presents a high-stiffness torque sensor with a strain amplification mechanism for cooperative industrial manipulators. A novel strain amplification mechanism for a torque sensor has beendesigned to increase the stiffness of the sensor. The mechanism has a single structure composed of trapezoidal beams, flexure structures, and inner and o...
Article
Robotic manipulators require contact force sensing capabilities to sense the contact force between the manipulator and an object. Specifically, for humans and robots to coexist in the work environment, the robot must be able to detect an external force applied by a human. This study presents a new intrinsic force sensing method for robot manipulato...
Article
Full-text available
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it diff...
Article
To manipulate objects using a robot hand, it is important to measure the information of the various forces on the fingertips. In this paper, a six-axis force/torque (F/T) fingertip sensor for a robot hand is introduced. The sensor was developed to provide the ability to measure six-axis F/T while remaining feasible for robot fingertip integration b...
Article
Full-text available
With the fast‐paced development of biomedical electronics, monitoring physiological processes have become ubiquitous throughout the field of implantable devices. Nevertheless, inherent challenges remain extant when long‐term applications are concerned. For the stable and reliable function of these devices, hermetic and biocompatible encapsulation i...
Article
Magnesium Sensors In article number 2201854, Seungyong Han, Sang Min Won, and co‐workers report a functional encapsulating structure that quantitatively measures the diffusion of fluids into the encapsulating barrier. The hydrolysis of magnesium electrode underneath the encapsulating barrier shows the capability of wireless monitoring of the water...
Article
Full-text available
This paper presents an integrated framework that integrates the kinematic and dynamic parameter estimation of an irregular object with non-uniform mass distribution for cooperative aerial manipulators. Unlike existing approaches, including impedance-based control which requires expensive force/torque sensors or the first-order-momentum-based estima...
Article
The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness in its weight, and safety toward the human organ. However, it cannot be used widely because of its difficulty of control. To control a soft robot manipulator accurately, shape sensing is essential. This paper presents a method of estimat...
Article
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In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load...
Article
Full-text available
Compliance devices facilitate robotic assemblies by preventing excessive contact force on automated devices. However, the unavailability of displacement information regarding compliance devices makes it difficult to protect robots and objects during robotic assembly. It also limits repeatability and efficiency, especially regarding peg-in-hole and...
Article
Full-text available
The robotic gripper is an essential component for handling, manipulating, and transporting objects. However, the parallel rigid gripper, which is one of the most widely used grippers in robotics, has limitations in handling fragile objects with a proper gripping force. We present a shape-adaptive universal soft gripper that can grip complex-shaped...
Article
Force/Torque (F/T) sensing technology enables a dexterous robot control such as direct teaching, master-slave system, and pick-and-place task. In general, 6-axis F/T sensor is attached to the end-effector of the robot manipulator to assist in utilizing advanced robot systems. However, in actual applications, various tools such as robotic grippers,...
Article
Fabric muscle is important for wearable robots that are soft, compliant, and silent with high contractility and high force. This study presents a novel shape memory alloy (SMA) spring-based fabric muscle (SFM). The SFM is manufactured by bundling SMA springs with proven performance as artificial muscle. The SFM generates high contractility and high...
Article
This paper presents a human-mimetic manipulator capable of shock absorption by using dislocation at the soft joint. A one degree-of-freedom (DOF) soft robot joint was developed based on the human elbow-joint structure, especially mimicking the humeroulnar joint in the elbow. Each component of the soft joint is combined by an elastic ligament, which...
Article
This paper presents a variable admittance control method to achieve intuitive human-robot interactions that consider human intentions. Human intention is classified into two categories-direct and indirect. With respect to direct intention, the concept of standard force is introduced to adjust the interacting force. The proposed variable admittance...
Article
For more secure and delicate robotic surgery, force sensing ability is essential but it has still not been used in actual robot surgery. This is because the environmental factors that occur during actual operation affect the sensor and the sensor cannot give reliable force information. In this paper, we aim to develop reliable sensorized-forceps th...
Article
Measuring accurate torque is a core ability of advanced robotic technologies. However, embedding torque-sensing systems into robot joints is still a challenge due to limitations including size, weight, and cost. Moreover, the influence from axial forces/torques (x- and y-axis) and the sinusoidal effect from the harmonic drive make it difficult to m...
Article
The multi–axial force/torque sensor for advanced robotic applications utilizes the internal strain of deformable structure for its measurement. Thus, there exist coupling, and errors due to nonlinearity caused from the variation of the electric signal with respect to the strain. This paper presents a method of calibrating 6-axis force/torque sensor...
Article
A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance sensing method. The sensor consists of only three parts, namely a sensing printed circuit board...
Conference Paper
Full-text available
The force/torque sensor is an important tool that gives a robot an ability to interact with their usage environments. Calibration is essential for these force/torque sensors to convert the raw sensor values to accurate forces and torques. However, in practice, the multi-axis force/torque sensor requires complex multi-step data processing, because o...
Article
To achieve a compact and lightweight surgical robot with force-sensing capability, in this paper, we propose a surgical robot called “S-surge”, which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-sensing system. The robot consists of a 4 degreeof- freedom (DOF) surgical instrument and...
Article
Full-text available
This paper presents a handheld surgical tool adapting a tactile feedback system. The tool consists of a 3-degree-of-freedom (DOF) force sensor and three tactile displays. The sensor is easily embedded in the tool by adopting the capacitive transduction principle. The sensor measures the direction and magnitude of the 3-DOF force applied to the tool...
Article
This paper presents a novel design of dielectric elastomer actuator (DEA), called single body dielectric elastomer actuator (SDEA), to improve the performance of existing DEAs. The DEA is typically configured with stacking multiple dielectric elastomer film and linearly contracted according to the applied voltage. SDEA is fabricated monolithically...
Article
This paper presents a novel 6-axis force/torque (F/T) sensor for robotic applications that is self–contained, rugged and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing proc...
Conference Paper
This paper presents a novel capacitive type joint torque sensor for robotic applications. The proposed torque sensor enables to measure the rotational torque value while it decouples the external Force/Torque loads without any complicated computing procedure. To measure the joint torque, just two capacitive transducer cells are used. These two cell...
Conference Paper
This paper proposes a highly sensitive dual mode tactile proximity sensor for robotic applications that uses Carbon Microcoils (CMCs). The sensor consists of an electrode layer printed on a Flexible Printed Circuit Board (FPCB) and a dielectric substrate into which the CMCs have been mixed. The dielectric layer is simply put on the top of the FPCB....
Conference Paper
This paper proposes a flexible dual mode tactile and proximity sensor using Carbon Microcoils (CMCs). The sensor consists of a Flexible Printed Circuit Board (FPCB) electrode layer and a dielectric layer of CMCs composite. In order to avoid damage from frequent contacts, the sensor has all electrodes on the same plane and a polymer covering is plac...
Article
The tactile display is a device which physically stimulates the human skin to reproduce the feel of touch. This paper presents a novel tactile display device driven by a dielectric elastomer actuator. The device adopts an indirect actuation method by using a rigid coupling, which aims to avoid direct contact of the human skin with the actuator. The...
Conference Paper
Full-text available
Aiming to apply soft actuators in driving a walking robot, the design, fabrication and locomotion of a bio-inspired printable hexapod robot are studied. The robot mimicks the insect’s design and walking posture by driving six legs with alternating tripod gait which provides its locomotive adaptability on flat terrains. The versatile movements of th...
Conference Paper
This paper presents a stretchable proximity-tactile sensor (PTS) using Carbon Micro Coils (CMC). The PTS consists of pairs of multiple active electrodes and a common ground electrode on the same plane. Thus, the sensor is tolerable to the repetitive contacts from external forces. The top layer consists of dielectric elastomer substrate mixed with 5...
Article
This paper presents an innovative design of a six-axis force/torque sensor, which enables ease of manufacturing, cost reduction, and ruggedness in operation. The advantages are realized by simplifying the structure of the sensor and reducing manual labor during the manufacturing process. In order to achieve a simple sensor structure, we propose a c...
Conference Paper
Full-text available
his paper presents the preliminary design of a biomimetic printable hexapod robot driven by soft actuators. The robot mimics the insect's design with six legs and shows the capability of versatile locomotion on flat terrains by using alternating tripod gait. The soft and multiple degree-of-freedom (multi-DOF) actuators based on dielectric elastomer...
Article
Full-text available
This study presents a highly stretchable dielectric elastomer material for transducers based on acrylonitrile butadiene rubber (NBR). The material has advantages in that its mechanical and electrical properties can be modified according to the requirements of applications by changing the content of additives such as carbon black (CB), multi-walled...
Article
This paper presents a multi-axial force sensing system for haptic feedback of minimally invasive robotic surgery. The system consists of a 3-axial force sensor located on the wrist of surgical grasper and a torque sensor which plays a role of pulley for driving tendons. The 3-axial force sensor measures magnitude and direction of manipulation force...
Article
This paper presents a grasper-integrated force sensor that provides the capability of measuring dual axial forces at the tip of surgical robot for minimally invasive surgery (MIS). On the sensorized forceps, the combination of dual axial forces measured at each side of grasper presents three axial pulling and single axial grasping force sensing, wh...
Article
A kind of dielectric elastomer (DE) material, called 'synthetic elastomer', has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic system...
Conference Paper
This work presents a dual purpose sensor for collecting proximity and tactile information by using a composite with dielectric elastomer (DE) and Carbon Micro Coils (CMC). CMC is a coil-like carbon microstructure with the size of several hundred micrometers, and its electrical characteristics change with the distance between the object or via physi...
Article
The recent advances in portable and flexible electronic devices demand integration of flexibility into future electromagnetic interference shielding materials. Here we synthesized flexible adhesive shields made of microscale silver flakes (Ag flakes), multi-walled carbon nanotubes decorated with nanoscale silver particles (nAg-MWNTs), and nitrile b...
Conference Paper
Full-text available
In this paper, we present a smart handheld surgical tool with tactile feedback to help microsurgery. This device consists of force sensors attached to the tool tip and tactile displays on the position of the fingerhold. The sensor is capacitive one and measures not only the magnitude of force, but also the direction of force. The sensor can measure...
Conference Paper
Full-text available
This paper presents a preliminary design and experimental results of a multi-axial contact force sensor for robotic surgery graspers. The sensor is a thin-film type capacitive one with a multiple cell structure capable of measuring normal and shear forces at contacts simultaneously. The structure of the sensor is determined via numerical optimizati...
Conference Paper
Full-text available
The six axis F/T sensor is a primary component for the robotic technologies, but its high unit cost hampers the popularization to the robotic applications. In this paper, we present a six-axis force-torque capacitive sensor based on dielectric elastomer. Dielectric elastomer is compressed and deformed with external forces acting on it. Its deformat...
Article
A tactile display is an important tool to help humans interact with machines by using touch. In this paper, we present a transparent and stretchable graphene-based actuator for advanced tactile displays. The proposed actuator is composed of transparent and compliant graphene electrodes and a dielectric elastomer substrate. Since the electrode is co...
Conference Paper
A tactile sensor for slip detection is necessary for human- like grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrylo-nitrile butadiene rubber (NBR) as substrate. The presented sensor device in this paper has fi...
Conference Paper
Full-text available
Recently, Dielectric Elastomer Actuator(DEA) comes to the market successfully by introducing commercial products such as tactile interfaces for mobile applications. As an advanced application, we present a tactile display device actuated with dielectric elastomer actuator(DEA) in this paper. By employing fluid coupling between the touch spot and th...
Conference Paper
In this paper, we propose a tactile display with a rigid coupling based on Dielectric Elastomer Actuator. The proposed design of the tactile display is explained and its basic operational principles are discussed. It consists of three parts, that is, actuator layer, coupling and upper layer. The rigid coupling is sandwiched between them. Because of...
Article
Full-text available
In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-c...