Jamie Paik - Academia.edu (original) (raw)

Papers by Jamie Paik

Robots today have wider application fields than they ever have before. They need to work close to... more Robots today have wider application fields than they ever have before. They need to work close to humans and fluid and compliable motions are expected of them. This requires redundant degrees of freedom for completing specific task. And conventional motion teaching method cannot be applied to redundant link structures. In this paper, the authors present a proficient, cost-effective and intuitive method for motion teaching. New software to apply this method to a humanoid is also presented. This new method utilizes current sensors to determine which joints to rotate. The experiment shown in this paper is a case of closed link where arms cannot move independently due to the restrictions in between the hands. After the input of several passing points of motion trajectory, the curve fitting is performed by the developed software. This software can insert new points, delete erroneous points and modify existing points. The developed motion teaching method is applied to the Kumdo robot, which is developed by the authors.

Smart Materials and Structures, 2015

ABSTRACT Tactile sensing transfers complex interactive information in a most intuitive sense. Suc... more ABSTRACT Tactile sensing transfers complex interactive information in a most intuitive sense. Such a populated set of data from the environment and human interactions necessitates various degrees of information from both modular and distributed areas. A sensor design that could provide such types of feedback becomes challenging when the target component has a nonuniform, agile, high resolution, and soft surface. This paper presents an innovative methodology for the manufacture of novel soft sensors that have a high resolution sensing array due to the sensitivity of ceramic piezoelectric (PZT) elements, while uncommonly matched with the high stretchability of the soft substrate and electrode design. Further, they have a low profile and their transfer function is easy to tune by changing the material and thickness of the soft substrate in which the PZTs are embedded. In this manuscript, we present experimental results of the soft sensor prototypes: PZTs arranged in a four by two array form, measuring 1.5–2.3 mm in thickness, with the sensitivity in the range of 0.07–0.12 of the normalized signal change per unit force. We have conducted extensive tests under dynamic loading conditions that include impact, step and cyclic. The presented prototype's mechanical and functional capacities are promising for applications in biomedical systems where soft, wearable and high precision sensors are needed.

Springer Tracts in Advanced Robotics, 2009

Human interactive robots continue to improve human quality of life with their diverse application... more Human interactive robots continue to improve human quality of life with their diverse applications. Their field includes, but is not limited to, haptic devices, force feedback tele-manipulation, surgical co-manipulation, medical rehabilitation, and various multi-degree of freedom robotic devices where the human operator and robot are often required to simultaneously execute tasks and collaborate with a specific share of forces/energy. More than tuning mechanical design, the robot control enhancement with a force sensor, is the key for increasing transparency (i.e the capacity for a robot to follow human movements without any human-perceptible resistive forces). With an ideal robot control, the interaction between robot and human would be extremely natural and fluid that the comanipulation of tasks would seem to be achieved with a transparent aid from the robot. For such, the classical force feedback control in certain cases still seems insufficient as is often limited by various factors (noise, bandwidth limitation, stability, sensor cost..etc). Our experiments are focused on evaluating the performance increase in terms of transparency of controller by using human motion predictions. We evaluate several ways to use predictive informations in the control to overcome present transparency limitations during a simple comanipulation pointing task. O. Khatib et al. (Eds.): Experi.

Lecture Notes in Computer Science, 2010

We are working towards the development of a robotic handheld surgical device for laparoscopic int... more We are working towards the development of a robotic handheld surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results. ⋆ This work was supported by Agence Nationale de la Recherche (ANR) fund ANR-09-CORD-020.

International Journal of Control, Automation and Systems, 2010

Conventional robot motion teaching methods use a teaching pendant or a motion capture device and ... more Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could be set up as if it were a clothing mannequin that has light limbs and flexible yet frictional joints which can be positioned at desirable shape and hold all the positions. To do the same with a robot, an operator could pull or push the links with minor forces until the desired robot posture is attained. For this, a robot should measure the applied external force by using torque sensors at the robot joints. However, torque sensors are bulky and expensive to install in every DOF joints while keeping a compact design, which is essential to humanoid robots. In this paper, we use only motor current readings to acquire joint torques. The equations used to compensate for the effect of gravity on the joint torques and the self-calibration method to earn link parameters are presented. Additionally, kinematic restrictions can be imposed on the robot's arms to simplify the motion teaching. Here, we teach the Kendo training robot with this method and the robot's learnt martial art motions are demonstrated.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Abstract We present a new device aimed at being used for upper limb rehabilitation. Our main foc... more Abstract We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (ie the robot shall be strong enough to generate human-like movements while guiding the weak arm of a ...

2008 IEEE International Conference on Robotics and Automation, 2008

A major issue in the field of human-robot interaction for assistance to manipulation is transpare... more A major issue in the field of human-robot interaction for assistance to manipulation is transparency. This basic feature qualifies the capacity for a robot to follow human movements without any human-perceptible resistive forces. In this paper we address the issue of human motion prediction in order to increase the transparency of a robotic manipulator. Our aim is not to predict the motion by itself, but to study how this prediction can be used to improve the robot transparency. For this purpose, we have designed a setup for performing basic planar manipulation tasks involving movements that are demanded to the subject and thus easily predictible. Moreover, we have developed a general controller which takes a predicted trajectory (recorded from offline free motion experiments) as an input and feeds the robot motors with a weighted sum of three controllers: torque feedforward, variable stiffness control and force feedback control. Subjects were then asked to perform a task, with or without the assistance of the robot (which was not visible to the subject), and with several sets of gains for the controller tuning. Preliminary results seems to indicate that when a predictive controller with open loop torque feedforward is used, the robot presence is less sensed. Therefore, the transparency is increased.

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Smart Materials and Structures, 2012

This paper presents a low-profile bidirectional folding actuator based on annealed shape memory a... more This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso-and microscale systems. Despite the advantages of shape memory alloys-high strain, silent operation, and mechanical simplicity-their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180 • motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin (<1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype.

International Journal of Control …, 2006

Abstract: For a sophisticated humanoid that explores and learns its environment and interacts wit... more Abstract: For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, ...

We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to ... more We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot able of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm of a patient) and the active mode (i.e. the robot shall be able of following the arm without disturbing its natural motion). This greatly challenges the design, since the system shall be reversible and lightweight while providing human compatible strength, workspace and speed. The solution takes the form of an orthotic structure, which allows controlling the human arm redundancy contrarily to clinically available upper limb rehabilitation robots. It is equipped with an innovative transmission technology, which provides both high gear ratio and fine reversibility. The residual amount of static disturbance can be easily compensated for in a simple low level controller which is depicted in the paper.

Programmable materials based on robotic origami have been demonstrated with the capability to fol... more Programmable materials based on robotic origami have been demonstrated with the capability to fold into 3D shapes starting from a nominally 2D sheet. This concept requires high torque density actuators, flexible electronics and an integrated substrate. We report on two types of stretchable circuitry that are directly applicable to robotic origami: meshed copper traces and liquid-metal-filled channels in an elastomer

This paper presents low-profile torsional actuators applicable for mesoscale and microscale robot... more This paper presents low-profile torsional actuators applicable for mesoscale and microscale robots. The primary actuator material is thermally activated Ni-Ti shape memory alloy (SMA), which exhibits remarkably high torque density. Despite the advantages of SMAs for actuator applications-high strain, silent operation, and mechanical simplicity-the response time and energy efficiency limit overall performance. As an alternative to SMA wires, thin SMA sheets are used to fabricate effective yet compact torsional actuators. Also, instead of using conventional Joule heating, an external Ni-Cr heating element is utilized to focus heat on the regions of highest required strain. Various design parameters and fabrication variants are described and experimentally explored in actuator prototypes. Controlled current profiles and discrete heating produces a 20% faster response time with 40% less power consumption as compared to Joule heating in a low-profile (sub-millimeter) torsional actuator capable of 180 • motion.

IEEE/ASME Transactions on Mechatronics, 2000

Minimally invasive surgery (MIS), which typically involves endoscopic camera and laparoscopic ins... more Minimally invasive surgery (MIS), which typically involves endoscopic camera and laparoscopic instruments may seem to be the ideal surgical procedure for its apparent benefits. However, in comparison to open surgeries, the spatial and mechanical tool limitations posed on surgeons are so high that often MIS is foregone for complex cases and even when it is possible, the procedure requires a high dexterity, caliber, and experience from the surgeon. Particularly, suturing procedure through MIS is known to be extremely challenging. We are working toward the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. The instrument produces two independent DOFs, which is sufficient for enabling MIS suturing procedure in vivo. The end-effector's orientation is controlled by an intuitive and ergonomic controller and its position is controlled directly by the surgeon. Different control modes, handles, and end-effector kinematics are primarily evaluated using a virtual reality simulator before choosing the best combination. A proof-of-concept prototype of the device has been developed. He is currently a Professor of mechanical engineering at the Université Pierre et Marie Curie-Paris VI. His research has been concerned with sensor-based control of robots, with a particular focus on force-feedback control and visual servoing. His current research interests include applications of these techniques for medical robotics (surgery, rehabilitation).