Abstract: The present invention discloses a tactile feedback device for giving realistic touch sensation to the user by stimulating the skin of the user. The tactile feedback device of the present invention comprises a housing having one end positioned near the skin of the user in use, an actuator, touch pins and an elastic means. The actuator is mounted inside the housing to convert electromagnetic energy into kinetic energy. The touch pins are mounted inside the housing so as to pop in and out, and the front end thereof is popped out of one end of the housing to contact the skin, and is connected with the actuator so as to be operated by kinetic energy of the actuator. The elastic plates of the elastic means are mounted between one end of the housing and the actuator, and have the touch pins fixedly passing through so as to be interlocked with the touch pins, and when the touch pins pop in and out, they are elastically deformed to have elastic energy.

Abstract: A robotized laparoscopic system capable of executing commands of an operating surgeon is provided. The laparoscopic system includes a cylindrical tube inserted through an incision. A small-sized camera is attached to one end of the tube to capture the images of the surgical site. A bending portion is adapted to bend the tip of the tube in any direction. A driving unit controls a bending direction and a bending angle of the bending portion. A movement device moves the tube forward or backward in a longitudinal direction. A control unit independently controls the driving unit and the movement device. An input unit receives commands from the surgeon. A conversion unit converts the command input from the surgeon into digital signals and transmits the digital signals to the control unit. A support unit supports the weight of the movement device by being connected to an operating table or the floor.

Abstract: A haptic mouse interface system includes a mouse, a first force feedback unit for providing a first force feedback in a first direction of a virtual object to the user's hand and arm, a second force feedback unit for providing a second force feedback in second and third directions to the user's fingers, and a tactile feedback unit for providing tactile sensations to the user's fingers. The first force feedback unit has first and second encoders to receive signals relating to a first direction of the virtual object, first and second motors driven by the first and second encoders, and a linkage, which is connected between shafts of the first and second motors and the mouse. The second force feedback unit is provided in the mouse, and has a third encoder to receive a signal relating to the second and third directions of the virtual object, a third motor driven by the third encoder and having a shaft, a pair of finger pads provided at both sides of the mouse and linearly moved by the third motor.

Abstract: The tactile transmission device includes a plurality of cells arranged at regular intervals, each having a storage space therein. A contact member is installed in each of the cells, an upper portion of the contact member protruding out of the cell. An elastic member is installed in each of the cells, and biases the contact member upwards. A sensor is installed in each of the cells, and measures displacement of the contact member. A magneto-rheological fluid is contained in each of the cells. A coil is installed in each of the cells and generates a magnetic field in the cell. A control means compares a shape information value of the image with a displacement value of the contact member output from the sensor, thus controlling a quantity of current applied to the coil. According to the present invention, the shape information of an image displayed on a screen is corrected to be suitable for a user's characteristics, thus more precisely transmitting the shape information on the screen to the user.

Abstract: The present invention is a wheelchair control sensor for controlling a powered wheelchair for spinal cord-injured persons, who are incapable of using their hands, using movement of shoulders. The wheelchair control sensor includes two shoulder straps, two casings, two Force Sensitive Resistor (FSR) sensors, pressing balls, and a waist belt. The casings each have an internal space defined by an inclined surface. The FSR sensors are attached to the inclined surfaces of the casings or surfaces opposite to the inclined surfaces. The pressing balls are connected to the shoulder straps to press the FRS sensors while being moved through the internal spaces of the casings by external force. The waist belt is worn on an upper garment with the two casings spaced apart from each other at a certain interval.

Abstract: An adhesive method for an optical fiber curvature sensor results in a sensor having improved sensitivity for measuring body motions such as motions of fingers, arms, or legs, and in particular that is capable of measuring both a curving direction and degree of curvature of a subject simultaneously, even for variable surface areas such as those of the waist or shoulders. The method is carried out by adhering an optical fiber to a subject in a curved state.

Abstract: Disclosed herein is a wheelchair control sensor for controlling a powered wheelchair for spinal cord-injured persons, who are incapable of using their hands, using movement of shoulders. The wheelchair control sensor includes two shoulder straps, two casings, two Force Sensitive Resistor (FSR) sensors, pressing balls, and a waist belt. The casings each have an internal space defined by an inclined surface. The FSR sensors are attached to the inclined surfaces of the casings or surfaces opposite to the inclined surfaces. The pressing balls are connected to the shoulder straps to press the FRS sensors while being moved through the internal spaces of the casings by external force. The waist belt is worn on an upper garment with the two casings spaced apart from each other at a certain interval.

Abstract: A haptic mouse interface system includes a mouse, a first force feedback unit for providing a first force feedback in a first direction of a virtual object to the user's hand and arm, a second force feedback unit for providing a second force feedback in second and third directions to the user's fingers, and a tactile feedback unit for providing tactile sensations to the user's fingers. The first force feedback unit has first and second encoders to receive signals relating to a first direction of the virtual object, first and second motors driven by the first and second encoders, and a linkage, which is connected between shafts of the first and second motors and the mouse. The second force feedback unit is provided in the mouse, and has a third encoder to receive a signal relating to the second and third directions of the virtual object, a third motor driven by the third encoder and having a shaft, a pair of finger pads provided at both sides of the mouse and linearly moved by the third motor.

Abstract: A spherical joint for coupling three or more links together at one point. The joint includes a bail and a hollow spherical body wrapping the ball therein. The ball is movable in the hollow spherical body. An upper link inserted into and fixed to the hollow spherical body through an upper link insertion opening formed on the hollow spherical body. Lower links are connected to the hollow spherical body through lower link insertion openings, wherein the number of the lower links correspond to that of the hollow spherical body. Link support discs are set within a gap between outer surface of the central ball and inner surface of the hollow spherical body and fixed to each end of the lower link, and all the axes of the lower links and the upper link are coincident with a center point of the ball.

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6dof parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: A ball screw with inner ball circulation whose transfer displacement to size ratio is large, resulting in a device which has an optimized size with a positioning accuracy measured in microns, and a linear actuator equipped with the ball screw, are disclosed. The ball screw includes a plurality of balls arranged in a space between a hemispherical groove formed on a cylindrical inner surface of a housing and a hemispherical groove of a rotating male screw. The ball screw also includes a ball circulation tube with its cylindrical outer surface formed with the hemispherical groove of the male screw and with the groove corresponding to the hemispherical groove of the housing. The ball circulation tube is formed with ball openings penetrating from both ends of the male screw toward the inner part. The ball screw also includes a ball circulation section, which fits inside the ball circulation tube, and has a hemispherical inner return path formed on its outer cylindrical surface.

Abstract: The present invention relates to an optical fiber curvature sensor for measuring body motion and its adhesive method. More particularly, it relates to an optical fiber curvature sensor for measuring body motion and its adhesive method having an improved sensitivity for measuring body motions such as motions of fingers, arms, or legs, which is able to measure curving direction and curved degree of a subject simultaneously and applicable for subjects of which the surface areas are varying such as waist or shoulders, by adhering an optical fiber to a subject in curved-state.

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6d of parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: An apparatus for performing a task in a confined space having an access port. The apparatus comprise: a confinement box securable to the access port of the confined space; a shell extending from the confinement box; a teleoperated arm movable between a retracted position, in which the teleoperated arm is disposed within the shell, and a deployed position, in which the teleoperated arm extends through the access port and into the confined space to perform the task; and a control system for commanding the teleoperated arm.

Abstract: A multiaxial spherical joint, which precisely couples three or more links together at one point while allowing the links to be freely movable relative to each other within a predetermined range of motion without allowing any interference between them, is disclosed. This spherical joint has a central ball 10, a hollow spherical body 30 movably covering the central ball 10 without allowing a removal of the ball 10 from the spherical body 30, with a plurality of upper and lower link insertion openings 31 and 32 formed at the upper and lower portions of the spherical body 30. An upper link 20 is inserted into the spherical body 30 through the upper link insertion opening 31, and is coupled to the top surface of the ball 10. A plurality of link support discs 40 are set within the gap between the ball 10 and the spherical body 30 such that the discs 40 are not removable from the spherical body 30 through the lower link insertion openings 32.