• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• Archives of Plastic Surgery
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• 제49권3호
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• pp.373-377
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• 2022

Currently, robot-assisted latissimus dorsi muscle flap (RLDF) surgery is used in treating patients with Poland syndrome and for breast reconstruction. However, conventional RLDF surgery has several inherent issues. We resolved the existing problems of the conventional system by introducing the da Vinci single-port system in patients with Poland syndrome. Overall, three patients underwent RLDF surgery using the da Vinci single-port system with gas insufflation. In the female patient, after performing RLDF with silicone implant, augmentation mammoplasty was also performed on the contralateral side. Both surgeries were performed as single-port robotic-assisted surgery through the transaxillary approach. The mean operating time was 449 (335-480) minutes; 8.67 (4-14) minutes were required for docking and 59 (52-67) minutes for robotic dissection and LD harvesting. No patients had perioperative complication and postoperative problems related to gas inflation. The single-port robot-assisted surgical system overcomes the drawbacks of previous robotic surgery in patients with Poland syndrome, significantly shortens the procedure time of robotic surgery, has superior cosmetic outcomes in a surgical scar, and improves the operator's convenience. Furthermore, concurrent application to another surgery demonstrates the possibility in the broad application of the robotic single-port surgical system.

• 한국안전학회지
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• 제8권4호
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• pp.61-64
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• 1993

Until now, Industrial robotic sa(ety problems are not considered as a indust rial safety problems. In order to reduce industrial robotic safety problem, analyzing problem, risk control, and developing industrial robotic standard s are necessary. In this study, SAFEMIR(Safety Management for Industrial Robotic) is developed for preventing mul-function in industrial robotics. This system is consisted of Da ta Base Management System Module and Expert System Module which Is a part of Articial In telligence. Borland C++ and Foxpro 2.0 are used for implementing this system.

• Journal of Chest Surgery
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• 제54권4호
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• pp.319-324
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• 2021

Robotic thymectomy has been adopted recently and has been shown to be safe and feasible in treating thymic tumors and myasthenia gravis. The surgical indications of robotic technology are expanding, with advantages including an excellent surgical view and sophisticated manipulation. Herein, we describe technical aspects, considerations, and outcomes of robotic thymectomy.

• Asian Pacific Journal of Cancer Prevention
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• 제14권8호
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• pp.4871-4875
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• 2013

This meta-analysis was performed to evaluate and compare the outcomes of robotic gastrectomy (RG) and laparoscopic gastrectomy (LG) for treating gastric cancer. A systematic literature search was carried out using the PubMed database, Web of Knowledge, and the Cochrane Library database to obtain comparative studies assessing the safety and efficiency between RG and LG in May, 2013. Data of interest were analyzed by using of Review Manager version 5.2 software (Cochrane Collaboration). A fixed effects model or random effects model was applied according to heterogeneity. Seven papers reporting results that compared robotic gastrectomy with laparoscopic gastrectomy for gastric cancer were selected for this meta-analysis. Our metaanalysis included 2,235 patients with gastric cancer, of which 1,473 had undergone laparoscopic gastrectomy, and 762 had received robotic gastrectomy. Compared with laparoscopic gastrectomy, robotic gastrectomy was associated with longer operative time but less blood loss. There were no significant difference in terms of hospital stay, total postoperative complication rate, proximal margin, distal margin, numbers of harvested lymph nodes and mortality rate between robotic gastrectomy and laparoscopic gastrectomy. Our meta-analysis showed that robotic gastrectomy is a safe technique for treating gastric cancer that compares favorably with laparoscopic gastrectomy in short term outcomes. However, the long term outcomes between the two techniques need to be further examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.61.2-61
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• 2002

$\textbullet$ Introduction $\textbullet$ Dynamics of robotic manipulator $\textbullet$ Time-varying sliding surface $\textbullet$ Fuzzy rule, Membership function $\textbullet$ Application to a two degree robotic manipulator $\textbullet$ Conclusion

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.45-48
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• 1986

In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.57-61
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• 1990

An optimal graspiftg algorithms for a multifingered robotic hand is proposed, where a new quality measure is developed to evaluate task-oriented as well as stability by modelling the tasks as ellipsoids. To show the validities of the proposed algorithm, several numerical examples are presented by employing a 3-fingered robotic hand.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.139-145
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• 2006

A multi-variable Golden-Section adaptive controller is proposed for the tracking control of robotic manipulators with unknown dynamics. With a small sample time, the unknown dynamics of the robotic manipulator are denoted equivalently by a characteristic model of a 2-order multivariable time-varying difference equation. The coefficients of the characteristic model change slowly with time and some of their valuable characteristic relationships emerge. Based on the characteristic model, an adaptive algorithm with a simple form for the control of robotic manipulators is presented, which combines the multi-variable Golden-Section adaptive control law with the weighted least squares estimation method. Moreover, a compensation neural network law is incorporated into the designed controller to reduce the influence of the coefficients estimation error on the control performance. The results of the simulations indicate that the developed control scheme is effective in robotic manipulator control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2670-2675
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• 2003

A human-friendly interactive system, based on the harmonious symbiotic coexistence of human and robots, is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly among obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction of human and robot, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.