Korea Institute of Science and Technology

Namseon Jang

Jinwoo Jeong

Sang Rok Oh

Donghyun Hwang

Sehyuk Yim

Sungwook Yang

Yong Seok Ihn

Sungwoo Park

Keehoon Kim

Provided is a forceps driving apparatus including a body, a gripper installed to be received in the body and formed to be open and closed, an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation, an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member, an actuator connected to the other side of the opening and closing member to rotate the opening and closing member by contraction or extension, and a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member.

Forceps driver apparatus

Provided is a tele-operated forceps-driver variable stiffness master device including a master member to generate an input displacement signal generated by pressing with a user's finger, and a slave member to operate based on the input displacement signal, measure operation information, calculate a gripping force based on the operation information, and provide the master member with at least one of a stiffness change command signal or a force feedback based on the calculated gripping force.

Tele-operated forceps-driver variable stiffness master device

Growing community of inventors

Seoul, South Korea

Namseon Jang