1. Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, South Korea
2. Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology, Daegu, South Korea
3. R&D Center of ROEN Surgical, Inc., Daejeon, South Korea
4. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea