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IROS
2007
IEEE

Design of a spring backbone micro endoscope

10 years 4 months ago
Design of a spring backbone micro endoscope
— This work introduces a modified endoscope structure that employs a spring as its backbone. This design allows backdrivability of the mechanism due to the flexibility of the spring structure. Furthermore, the full 3 DOF motion including compression and two rotational motions can be realized. The geometric analysis, kinematic modeling, and actuator sizing for this device are conducted. Both simulation and experiment have been performed to show the effectiveness of this device.
Dong-Geol Choi, Byung-Ju Yi, Whee Kuk Kim
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Dong-Geol Choi, Byung-Ju Yi, Whee Kuk Kim
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