Robotics
 
Biorobotics
Laboratory
Robotics
Intelligent
Control
Systems
Laboratory
Interactive &
Networked
Robotics
Laboratory
Robotics
Laboratory

- Design and development of FLEA

- Omegabot: Inchworm inspired robot

- Large deformation morphing structure: Flytrap-inspired robot

- Wearable robotic hand

- Hands-on surgical robot: Shared control system

It is important for a wearable robot to be compact and sufficiently light for use as an assistive device. Since human fingers are arranged in a row in dense space, the concept of traditional wearable robots using a rigid frame and a pin joint result in size and complexity problems. A structure without a conventional pin joint, called a jointless structure, has the potential to be used as a wearable robotic hand because the human skeleton and joint can replace the robot's conventional structure. Another way to reduce the weight of the system is to use under-actuation. Under-actuation enables adaptive grasping with less number of actuators for robotic hands. Differential mechanisms are widely used for multi-finger under-actuation; however, they require additional working space. We propose a design with a jointless structure and a novel under-actuation mechanism to reduce the size and weight of a hand exoskeleton.
jhp9395@robotics.snu.ac.kr
TEL : +82-2-880-7149