DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ahn, Jeongdo | ko |
dc.contributor.author | Kim, Joonhwan | ko |
dc.contributor.author | Lee, Hyunyoung | ko |
dc.contributor.author | Hwang, Minho | ko |
dc.contributor.author | Kwon, Dong-Soo | ko |
dc.date.accessioned | 2021-03-04T06:30:07Z | - |
dc.date.available | 2021-03-04T06:30:07Z | - |
dc.date.created | 2020-12-07 | - |
dc.date.issued | 2021-02 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, v.17, no.1, pp.e2147 | - |
dc.identifier.issn | 1478-5951 | - |
dc.identifier.uri | http://hdl.handle.net/10203/281199 | - |
dc.description.abstract | Background Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. Methods To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four-DOFs slave-specific and six-DOFs general-purpose master devices. Results Significant differences were observed in terms of intuitiveness performance between the slave-specific and the general-purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint. Conclusions Compared with a general-purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance. | - |
dc.language | English | - |
dc.publisher | WILEY | - |
dc.title | A highly intuitive and ergonomic redundant joint master device for four-degrees of freedom flexible endoscopic surgery robot | - |
dc.type | Article | - |
dc.identifier.wosid | 000589925500001 | - |
dc.identifier.scopusid | 2-s2.0-85096686371 | - |
dc.type.rims | ART | - |
dc.citation.volume | 17 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | e2147 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | - |
dc.identifier.doi | 10.1002/rcs.2147 | - |
dc.contributor.localauthor | Kwon, Dong-Soo | - |
dc.contributor.nonIdAuthor | Kim, Joonhwan | - |
dc.contributor.nonIdAuthor | Hwang, Minho | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | endoscopy | - |
dc.subject.keywordAuthor | ergonomics | - |
dc.subject.keywordAuthor | human& | - |
dc.subject.keywordAuthor | #8208 | - |
dc.subject.keywordAuthor | machine interfaces | - |
dc.subject.keywordAuthor | intuitiveness | - |
dc.subject.keywordAuthor | redundant joint | - |
dc.subject.keywordAuthor | telesurgery | - |
dc.subject.keywordPlus | SYSTEMS | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.