Publication       

Google Scholar Link

Journal

• 1. Kim, S., Oh, Y., Kang, J., Cha, Y., 2024: “Design of an accordion-fold-inspired soft electrohydraulic actuator for angular motion”, IEEE Robotics and Automation Letters 9(5), 4750-4757

  2. Min, J., Pack, J., Park, H. I., Cha, Y., 2024: “Classification of floor materials using piezoelectric actuator-sensor pair and deep learning for mobile robots”, IEEE Access 12, 28511-28519

  3. Min, J., Kim, H., Cha, Y., 2024: “Detecting deformation of a soft cylindrical structure using piezoelectric sensors”, Intelligent Service Robotics 17(1), 85-94

  4. Yoo, S., Kim, J., Park, J., Cha, Y., 2024: “Design and analysis of origami-based multimodal actuator capable of linear and bending motion”, IEEE Robotics and Automation Letters 9(1), 151-158

  5. Lee, K., Jung, P., Cha, Y., 2023: “Origami pump based on planetary gear system for pneumatic pressure”, IEEE/ASME Transactions on Mechatronics 28(3), 1436-1445

  6. Kim, S., Cha, Y., 2023: “A soft crawling robot with a modular design based on electrohydraulic actuator”, iScience 26, 106726

  7. Park, H. I., Cho, T. J., Choi, I. -G., Rhee, M. S., Cha, Y., 2023: “Object classification system using temperature variation of smart finger device via machine learning”, Sensors and Actuators A 356, 114338

  8. Lee, K., Cha, Y., 2023: “Quasi-static analysis of an electrohydraulic actuator for a soft gripper”, Sensors and Actuators A 352, 114214

  9. Min, J., Choi, T., Cha, Y., 2023: “Multiple tendon-inspired sensors for hand motion detection”, Smart Materials and Structures 32(3), 035014

  10. Kim, Y., Cha, Y., 2022: “Energy harvesting from flexion motion using a flexible piezoelectric ring”, Sensors and Actuators A 343, 113664

  11. Lee, K., Jung, P., Lee, Y., Cha, Y., 2022: “Wearable multifunctional additive hand system for enhancing the workspace and grasping capability of the human hand”, IEEE Access 10, 28094-28108

  12. Kim, S., Cha, Y., 2022: “Electrohydraulic actuator based on multiple pouch modules for bending and twisting”, Sensors and Actuators A 337, 113450

  13. Lim, H., Kim, S. -W., Song, J. -B., Cha, Y., 2021: “Thin piezoelectric mobile robot using curved tail oscillation”, IEEE Access 9, 145477-145485

  14. Kim, H., Lee, K., Jo, G., Kim, J. -S., Lim, M., Cha, Y., 2021: “Tendon-inspired piezoelectric sensor for biometric application”, IEEE/ASME Transactions on Mechatronics 26(5), 2538-2547 

  15. Kim, Y., Lee, Y., Cha, Y., 2021: “Origami pump actuator based pneumatic quadruped robot (OPARO)”, IEEE Access 9, 41010-41018

  16. Boldini, A., Cha, Y., Porfiri, M., 2021: “Solvation-driven electrochemical actuation”, Physical Review Letters 126(4), 046001

  17. Lee, Y., Lim, H., Kim, Y., Cha, Y., 2021: “Thermal feedback system from robot hand for telepresence”, IEEE Access 9, 827-835

  18. Chung, J., Lim, H., Lim, M., Cha, Y., 2020: “Object classification based on piezoelectric actuator-sensor pair on robot hand using neural network”, Smart Materials and Structures 29(10), 105020

  19. Lee, Y. R., Neubauer, J., Kim, K. J., Cha, Y., 2020: “Multidirectional cylindrical piezoelectric force sensor: design and experimental validation”, Sensors 20(17), 4840

  20. Park, C., Kim, H., Cha, Y., 2020: “Piezoelectric sensor with helical structure on thread core”, Applied Sciences 10(15), 5073 (Selected as cover article)

  21. Kim, S. -W., Kim, S. H., Kim, C. S., Yi, K., Kim, J. -S., Cho, B. J., Cha, Y., 2020: “Thermal display glove for interacting with virtual reality”, Scientific Reports 10, 11403

  22. Kim, Y., Cha, Y., 2020: “Soft pneumatic gripper with a tendon-driven soft origami pump”, Frontiers in Bioengineering and Biotechnology 8(461)

  23. Song, K., Kim, S., Cha, Y., 2020: “Soft electromagnetic actuator for assembly robots”, Smart Materials and Structures 29(6), 067001

  24. Song, K., Cha, Y., 2020: “Chopstick robot driven by X-shaped soft actuator”, Actuators 9(2), 32

  25. Kim, S., Cha, Y., 2020: “Rotary motion and manipulation using electro-hydraulic actuator with asymmetric electrodes”, IEEE Robotics and Automation Letters 5(3), 3945-3951

  26. Kim, S. H., Kwon, Y., Kim, K., Cha, Y., 2020: “Estimation of hand motion from piezoelectric soft sensor using deep recurrent network”, Applied Sciences 10(6), 2194

  27. Song, K., Cha, Y., 2020: “Hemispherical-cell-inspired soft actuator”, Frontiers in Bioengineering and Biotechnology 8(20)

  28. Cha, Y., Chung, J., Hur, S., 2020: “Torsion sensing on a cylinder using a flexible piezoelectric wrist band”, IEEE/ASME Transactions on Mechatronics 25(1), 460-467

  29. Park, T., Kim, K., Oh, S. -R., Cha, Y., 2020: “Electrohydraulic actuator for a soft gripper”, Soft Robotics 7(1), 68-75

  30. Kim, H., Lim, M., Cha, Y., 2020: “Cross-shaped piezoelectric beam for torsion sensing”, Smart Materials and Structures 29(1), 015023

  31. Lee, Y. R., Chung, J., Oh, Y., Cha, Y., 2019: “Flexible shear and normal force sensor using only one layer of polyvinylidene fluoride film”, Applied Sciences 9(20), 4339

  32. Park, T., Cha, Y., 2019: “Soft mobile robot inspired by animal-like running motion”, Scientific Reports 9, 14700

  33. Boldini, A., Rosen, M, Cha, Y., Porfiri, M., 2019: “Contactless actuation of perfluorinated ionomer membranes in salt solution: an experimental investigation”, Scientific Reports 9, 11989

  34. Kim, Y., Song, K., Song, J. -B.,Cha, Y., 2019: “Energy harvesting from flexible piezoelectric ring”, Smart Materials and Structures28(8), 084007

  35. Song, K., Kim, S., Jin, S., Kim, S., Lee, S., Kim, J. -S., Park, J. -M., Cha, Y., 2019: “Pneumatic actuator and flexible piezoelectric sensor for soft virtual reality glove system”, Scientific Reports 9, 8988

  36. Cha, Y., You, H., 2019: “Parameter study on piezoelectric length to harvesting power in torsional loads”, IEEE/ASME Transactions on Mechatronics 24(3), 1220-1227

  37. Song, K., Cha, Y., 2018: “Seesaw type actuator using balancing between electrostatic force, elasticity, and gravity”, AIP Advances 8, 075029

  38. Boldini, A., Jose, K, Cha, Y., Porfiri, M., 2018: “Enhancing the deformation range of ionic polymer metal composites through electrostatic actuation”, Applied Physics Letters 112(26), 261903

  39. Song, K., Lee, H., Cha, Y., 2018: “A V-shaped actuator with electrostatic force”, Actuators 7(2), 30

  40. Song, K., Cha, Y., 2018: “Fe3O4-silicone mixture as flexible actuator”, Materials 11(5), 753

  41. Cha, Y., Seo, J., 2018: “Energy harvesting from a piezoelectric slipper during walking”, Journal of Intelligent Material Systems and Structures 29(7), 1456-1463

  42. Cha, Y., Kim, H., Kim, D., 2018: “Flexible piezoelectric sensor-based gait recognition”, Sensors 18(2), 468

  43. Cha, Y., You, H., 2018: “Torsion sensing based on patterned piezoelectric beams”, Smart Materials and Structures 27(3), 035010

  44. Cha, Y.,2017: “Energy harvesting using flexible piezoelectric materials from human walking motion: theoretical analysis”, Journal of Intelligent Material Systems and Structures 28(20), 3006-3015

  45. Lee, J., Cha, Y., 2017: “Flexible printed circuit board actuators”, Smart Materials and Structures 26(12), 125019

  46. Tauro, F., Cha, Y., Rahim, F., Rasul, M. S., Osman, K., Halim, L., Dennisur, D., Esner, B., Porfiri, M., 2017: “Integrating mechatronics in project-based learning of Malaysian high school students and teachers”, International Journal of Mechanical Engineering Education 45(4), 297-320

  47. Lee, J., Cha, Y., 2017: “Decay characteristics of electroadhesive forces by periodic electrodes in dielectric layers”, European Physical Journal-Applied Physics 79(2), 21301

  48. Cha, Y., Seo, J., Kim, J. -S., Park, J. -M., 2017: “Human-computer interface glove using flexible piezoelectric sensors”, Smart Materials and Structures 26(5), 057002

  49. Cha, Y., Nam, K., Kim, D., 2017: “Patient posture monitoring system based on flexible sensors”, Sensors 17(3), 584

  50. Volpini, V., Bardella, L., Rodella, A., Cha, Y., Porfiri, M., 2017: “Modelling compression sensing in ionic polymer metal composites”, Smart Materials and Structures 26(3), 035030

  51. Kim, H., Cha, Y., Porfiri, M., 2016: “Voltage attenuation along the electrodes of ionic polymer metal composites”, Journal of Intelligent Material Systems and Structures 27(17), 2426-2430

  52. Cha, Y., Hong, S., 2016: “Energy harvesting from the walking motion of a humanoid robot using a piezoelectric composite”, Smart Materials and Structures 25(10), 10LT01

  53. Cha, Y., Hong, J., Lee, J., Park, J. -M., Kim K., 2016: “Flexible piezoelectric energy harvesting from mouse click motions”, Sensors 16(7), 1045

  54. Cha, Y., Laut, J., Phamduy, P., Porfiri, M., 2016: “Swimming robots have scaling laws, too”, IEEE/ASME Transactions on Mechatronics 21(1), 598-600

  55. Cha, Y., Chae, W., Kim, H., Walcott, H., Peterson, S. D., Porfiri, M., 2016: “Energy harvesting from a piezoelectric biomimetic fish tail”, Renewable Energy 86, 449-458

  56. Cha, Y., Abdolhamidi, S., Porfiri, M., 2015: “Energy harvesting from underwater vibration of an annular ionic polymer metal composite”, Meccanica 50(11), 2675-2690

  57. Chae, W., Cha, Y., Peterson, S. D., Porfiri, M., 2015: “Flow measurement and thrust estimation of a vibrating ionic polymer metal composite”, Smart Materials and Structures 24(9), 095018

  58. Cha, Y., Kim, H., Porfiri, M., 2014: “Matching the impedance of ionic polymer metal composites for energy harvesting”, Smart Materials and Structures 23(12), 127002

  59. Cha, Y., Porfiri, M., 2014: “Mechanics and electrochemistry of ionic polymer metal composites”, Journal of the Mechanics and Physics of Solids 71, 156-178

  60. Cha, Y., Kim, H., Porfiri, M., 2014: “Influence of temperature on the impedance of ionic polymer metal composites”, Materials Letters 133, 179-182

  61. Cellini, F., Cha, Y., Porfiri, M., 2014: “Energy harvesting from fluid-induced buckling of ionic polymer metal composites”, Journal of Intelligent Material Systems and Structures 25(12), 1496-1510

  62. Hu, J., Cha, Y., Porfiri, M., Peterson, S. D., 2014: “Energy harvesting from vortex ring on an annular ionic polymer metal composite”, Smart Materials and Structures 23(7), 074014

  63. Jalalisendi, M., Panciroli, R., Cha, Y., Porfiri, M., 2014: “A particle image velocimetry study of the flow physics generated by a thin lamina oscillating in a viscous fluid”, Journal of Applied Physics 115(5), 054901

  64. Cha, Y., Cellini, F., Porfiri, M., 2013: “Electrical impedance controls mechanical sensing in ionic polymer metal composites”, Physical Review E 88(6), 062603

  65. Cha, Y., Kim, H., Porfiri, M., 2013: “Energy harvesting from underwater base excitation of a piezoelectric composite beam”, Smart Materials and Structures 22(11), 115026

  66. Shen, L., Cha, Y., Shams, A., Porfiri, M., 2013: “Fabrication and buckling analysis of ionic polymer metal composite pipes”, Smart Materials and Structures 22(10), 105032

  67. Cha, Y., Verotti, M., Walcott, H., Peterson, S. D., Porfiri, M., 2013: “Energy harvesting from the tail beating of a carangiform swimmer using ionic polymer metal composites”, Bioinspiration & Biomimetics 8(3), 036003

  68. Cha, Y., Shen, L., Porfiri, M., 2013: “Energy harvesting from underwater torsional vibrations of a patterned ionic polymer metal composite”, Smart Materials and Structures 22(5), 055027 (Listed in the “Most cited articles in 2013”)

  69. Cha, Y., Porfiri, M., 2013: “A bias-dependent model of the electrical impedance of ionic polymer metal composites”, Physical Review E 87(2), 022403

  70. Cha, Y., Phan, C. N., Porfiri, M., 2012: “Energy exchange during slamming impact of an ionic polymer metal composite”, Applied Physics Letters 101(9), 094103

  71. Cha, Y., Aureli, M., Porfiri, M., 2012: “A physics-based model of the electrical impedance of ionic polymer metal composites”, Journal of Applied Physics 111(2), 124901

  72. Kim, K., Cha, Y., Park, J. -M., Lee, J. -Y., You, B. -J., 2011: “Providing services using network-based humanoids in a home environment”, IEEE Transactions on Consumer Electronics 57(4), 1628-1636

  73. Cha, Y., Kim, K., Lee, J. -Y., Lee, J., Choi, M., Jeong,M. -H., Kim, C., You, B. -J., Oh, S. -R., 2011: “MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution”, Robotics and Autonomous Systems 59(6), 354-366

Conference (Full Paper)

• 1. Kim, J., Cha, Y.: “Biomimetic quadrupedal soft robot using origami cylinder actuator”, SPIE Smart Structures + NDE, March 25-28, 2024, Long Beach, California, USA (Craig F. Bohren Best Student Presentation Award - 2nd Place)

  2. Kang, J., Kim, S., Cha, Y.: “Multimodal motion of soft origami tripod using electrohydraulic actuator”, SPIE Smart Structures + NDE, March 25-28, 2024, Long Beach, California, USA

  3. Lim, C., Cha, Y.: “Ultrasonic piezoelectric transducer design with concave surface”, SPIE Smart Structures + NDE, March 12-16, 2023, Long Beach, California, USA

  4. Park, H. I., Cha, Y.: “Object classification robot hand system using thermal conductivity”, SPIE Smart Structures + NDE, March 12-16, 2023, Long Beach, California, USA

  5. Kim, S., Cha, Y.: “Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper”, 18th International Conference on Ubiquitous Robots (UR), July 12-14, 2021, Gangneung, South Korea

  6. Min, J., Kim, H., Cha, Y.: “Virtual thermal feedback system using thermal conductivity”, 18th International Conference on Ubiquitous Robots (UR), July 12-14, 2021, Gangneung, South Korea

  7. Boldini, A., Cha, Y., Porfiri, M.: “The role of cations on contactless actuation of perfluorinated ionomer membranes in salt solution”, SPIE Smart Structures + NDE, March 22-26, 2021, Online

  8. Park, C., Kim, H., Cha, Y.: “Fiber-based piezoelectric sensors in woven structure”, 17th International Conference on Ubiquitous Robots (UR), June 22-26, 2020, Online

  9. Chung, J., Lim, M., Cha, Y.: “Texture analysis using a piezoelectric actuator-sensor pair”, SPIE Smart Structures + NDE, April 27-May 1, 2020, Online

  10. Kim, H., Lim, M., Cha, Y.: “Torsional loading analysis using cross-shaped piezoelectric sensor”, SPIE Smart Structures + NDE, April 27-May 1, 2020, Online

  11. Boldini, A., Rosen, M., Cha, Y., Porfiri, M.: “Modeling actuation of ionomer cilia in salt solution under an external electric field”, Proceedings of ASME Dynamic Systems and Control Conference (DSCC), October 8-11, 2019, Park City, Utah, USA

  12. Kim, S., Shin, H., Song, K., Cha, Y.: “Flexible piezoelectric sensor array for touch sensing of robot hand”, 16th International Conference on Ubiquitous Robots (UR), June 24-27, 2019, Jeju, South Korea

  13. Kim, Y., Song, J. -B., Cha, Y.: “Ring energy harvester using cylinder shape change”, SPIE Smart Structures + NDE, March 3-7, 2019, Denver, Colorado, USA

  14. Park, T., Cha, Y.: “Soft gripper actuated by electro-hydraulic force”, SPIE Smart Structures + NDE, March 3-7, 2019, Denver, Colorado, USA

  15. Boldini, A., Jose, K., Cha, Y., Porfiri, M.: “Electrostatic actuation in ionic polymer-metal composites”, SPIE Smart Structures + NDE, March 3-7, 2019, Denver, Colorado, USA

  16. Boldini, A., Rosen, M., Cha, Y., Porfiri, M.: “Searching for clues about Maxwell stress in the back-relaxation of ionic polymer-metal composites”, SPIE Smart Structures + NDE, March 3-7, 2019, Denver, Colorado, USA

  17. Song, K., Cha, Y.: “Tri-iron tetra-oxide and silicone composite beam actuator”, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 12-15, 2018, Kuala Lumpur, Malaysia

  18. Cha, Y., Shin, J., Song, K., Kim, D.: “Gait analysis system based on slippers with flexible piezoelectric sensors”, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 12-15, 2018, Kuala Lumpur, Malaysia

  19. Song, K., Park, J. -M., Cha, Y.: “Seesaw type actuator for haptic application”, Asia Haptics, November 14-16, 2018, Incheon, South Korea

  20. Cha, Y., You, H.: “Energy harvesting from torsions of patterned piezoelectrics”, SPIE Smart Structures + NDE, March 4-8, 2018, Denver, Colorado, USA

  21. Lee, J., Jeon, W., Cha, Y., Yang, H.: “Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 24-28, 2017, Vancouver, Canada

  22. Cha, Y., Nam, K., Kim, D.: “Patient cloth with motion recognition sensors based on flexible piezoelectric materials ”, 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), July 11-15, 2017, Jeju, South Korea

  23. Cha, Y., Hong, J., Lee, J., Park, J. -M., Kim K.: “Energy harvesting from mouse click of robot finger using piezoelectrics ”, SPIE Smart Structures + NDE, March 25-29, 2017, Portland, Oregon, USA

  24. Volpini, V., Bardella, L., Rodella, A., Cha, Y., Porfiri, M.: “A theoretical framework for the study of compression sensing in ionic polymer metal composites ”, SPIE Smart Structures + NDE, March 25-29, 2017, Portland, Oregon, USA

  25. Cha, Y., Hong, S.: “Experimental usage of humanoid robot for energy harvesting study from walking motion ”, Proceedings of ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 28-30, 2016, Stowe, Vermont, USA

  26. Cha, Y., Porfiri, M.: “A physics-based model for actuation and sensing of ionic polymer metal composites”, SPIE Smart Structures + NDE, March 8-12, 2015, San Diego, California, USA

  27. Cha, Y., Abdolhamidi, S., Porfiri, M.: “Underwater energy harvesting from vibrations of annular ionic polymer metal composites”, SPIE Smart Structures + NDE, March 8-12, 2015, San Diego, California, USA

  28. Hu, J., Cha, Y., Porfiri, M., Peterson, S. D.: “Energy harvesting from a vortex ring impact with an annular ionic polymer metal composite”, 17th U.S. National Congress on Theoretical and Applied Mechanics (USNCTAM), June 15-20, 2014, East Lansing, Michigan, USA

  29. Cha, Y., Cellini, F., Porfiri, M.: “Electromechanical sensing of ionic polymer metal composites”, SPIE Smart Structures + NDE, March 9-13, 2014, San Diego, California, USA

  30. Cellini, F., Cha, Y., Porfiri, M.: “Harvesting energy from a water flow through ionic polymer metal composites’ buckling”, SPIE Smart Structures + NDE, March 9-13, 2014, San Diego, California, USA

  31. Shen, L., Cha, Y., Shams, A., Porfiri, M.: “Buckling of an ionic polymer metal composite shell under uniaxial compression”, SPIE Smart Structures + NDE, March 9-13, 2014, San Diego, California, USA

  32. Cha, Y., Verotti, M., Walcott, H., Peterson, S. D., Porfiri, M.: “Energy harvesting from base excitation of a biomimetic fish tail hosting ionic polymer metal composites ”, Proceedings of ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 16-18, 2013, Snowbird, Utah, USA

  33. Cha, Y., Shen, L., Porfiri, M.: “Underwater energy harvesting from base excitation of ionic polymer metal composites undergoing torsional vibrations ”, Proceedings of ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 16-18, 2013, Snowbird, Utah, USA

  34. Cha, Y., Nardinocchi, P., Pezzulla, M., Porfiri, M.: “Giant Displacements in IPMC-Based Structures: A Preliminary Study ”, The 6th ECCOMAS Thematic Conference on Smart Structures and Materials , June 24-26, 2013, Torino, Italia

  35. Cha, Y., Porfiri, M.: “Charge dynamics of ionic polymer metal composites in response to electrical bias”, SPIE Smart Structures + NDE, March 10-14, 2013, San Diego, California, USA

  36. Cha, Y., Aureli, M., Porfiri, M.: “On a physics-based model of the electrical impedance of ionic polymer metal composites”, Proceedings of ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 19-21, 2012, Stone Mountain, Georgia, USA (Student Best Paper Competition Award)

  37. Cha, Y., Seo, E. -H., Kim, D., You, B. -J.: “The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot”, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 14-18, 2010, Tianjin, China

  38. Cha, Y., Seo, E. -H., Kim, D., You, B. -J.: “Novel method of remote robot control system based on smart phone”, The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), November 24-27, 2010, Busan, South Korea

  39. Cha, Y., You, B. -J.: “Design and implementation of mobile humanoid robot control system based on dual network”, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 19-23, 2009, Guilin, China

  40. Cha, Y., Hong, S. -M., Kim, D., You, B. -J., Oh, S. -R.: “Whole-body humanoid balance control with dynamically loading/unloading objects”, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 19-23, 2009, Guilin, China

  41. Lee, S., Kim, D., Cha, Y., You, B. -J., Cho, H.: “Development of a remote-controlled mobile robot for foreign language education”, The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), October 29-31, 2009, Gwangju, South Korea

  42. Cha, Y., You, B. -J.: “Dual Control Network Method for Efficient Real-time Humanoid Robot Control System”, IEEE International Symposium on Industrial Electronics (ISIE), July 5-8, 2009, Seoul, South Korea

Boot Chapter

1. Asaka, K., Takagi, K., Kamamichi, N., Cha, Y., Porfiri, M., 2016: “IPMCs as EAPs: Applications”, in Electromechanically active polymers (Edited by F. Carpi), Springer, Chapter 9, 191-214

2. Cha, Y., Porfiri, M., 2016: “What happens at the ionomer-electrode interfaces and how it influences sensing and actuation in IPMCs”, in Ionic polymer metal composites (IPMCs): Smart multi-functional materials and artificial muscles (Edited by M. Shahinpoor), Royal Society of Chemistry, Chapter 4, 169-184

Patent

• 1. Cha, Y., Kim, S.: “Mobile robot based on electrohydraulic actuator”, Korea Pending #10-2023-0142127

  2. Cha, Y., Park, H. I.: “Object classification apparatus based on thermal conductivity”, Korea Pending #10-2022-0135438

  3. Cha, Y., Min, J.: “Virtual reality glove having tension detector”, Korea Pending #10-2022-0122128

  4. Cha, Y., Lee, J., Park, J. -M., You, B. -J.: “Flexible printed circuit board actuator”, US Pending #15/848435

  5. Cha, Y., You, B. -J.: “Data transformation network apparatus and method for controlling robot using the same”, EU Pending #2233255

  6. Cha, Y., Kim, S., 2023: “Actuator and active plate having the same”, US #11685044

  7. Cha, Y., Chung, J., Oh, Y., 2023: “Object recognition apparatus”, US #11609211

  8. Cha, Y., Kim, H., 2023: “Tensile force detecting device”, US #11566952

  9. Song, K., Kim, S., Cha, Y., 2022: “Smart insole”, Korea #10-2462217

  10. Cha, Y., Kim, S., 2022: “Actuator and active plate having the same”, Korea #10-2418095

  11. Cha, Y., Chung, J., Oh, Y., 2022: “Object recognition apparatus”, Korea #10-2371459

  12. Cha, Y., 2022: “Legged robot and manufacturing method thereof”, US #11290029

  13. Cha, Y., Kim, H., 2021: “Tensile force detecting device”, Korea #10-2330897

  14. Cha, Y., Lee, Y. R., 2021: “Shear and normal force sensor and manufacturing method thereof”, US #11073434

  15. Cha, Y., Kim, Y., 2021: “Pneumatical gripper using origami pump and gripper system”, Korea #10-2222633

  16. Cha, Y., Lee, Y. R., 2021: “Shear and normal force sensor and manufacturing method thereof”, Korea #10-2256241

  17. Cha, Y., Song, K., Park, J. -M., You, B. -J., 2021: “Tactile feedback device”, US #11036297

  18. Cha, Y., Song, K., 2020: “Composite actuator device”, Korea #10-2143112

  19. Cha, Y., 2020: “Legged robot and manufacturing method thereof”, Korea #10-2177754

  20. Cha, Y., Park, T., 2020: “Hydraulic gripper and hydraulic gripper system”, Korea #10-2151653

  21. Hwang, D., Kim, D., Kim, J., Cha, Y., 2020: “Shielding device”, US #10739666

  22. Cha, Y., Song, K., 2020: “Composite actuator device”, US #10720856

  23. Cha, Y., 2020: “Flexible piezoelectric array sensor system”, Korea #10-2128371

  24. Cha, Y., Song, K., Park, J. -M., You, B. -J., 2020: “Tactile feedback device”, Korea #10-2113508

  25. Kim, D., Kim, J., Cha, Y., Park, M., Yuh, J., 2020: “Tracking relative position of nodes system and method of the same”, Korea #10-2078181

  26. Kim, D., Kim, J., Cha, Y., Park, M., 2019: “Signal correction method”, Korea #10-2032885

  27. Cha, Y., Kim, D., Yuh, J., 2019: “Measuring device for ambulation data”, Korea #10-1991466

  28. Cha, Y., Song, K., Park, J. -M., You, B. -J., 2019: “Actuator”, US #10331217

  29. Cha, Y., Song, K., Park, J. -M., You, B. -J., 2019: “Actuator”, Korea #10-1981238

  30. Hwang, D., Kim, D., Kim, J., Cha, Y., 2019: “Shielding device”, Korea #10-1937295

  31. Cha, Y., Kim, D., Yuh, J., 2018: “Measuring device for ambulation data”, US #10132646

  32. Cha, Y., Lee, J., Park, J. -M., You, B. -J., 2018: “Flexible printed circuit board actuator”, Korea #10-1912858

  33. Cha, Y., Kim, D., Park, M., Yuh, J., 2018: “Patient management system”, Korea #10-1897066

  34. Cha, Y., Park, J. -M., You, B. -J., 2018: “Wearable interface device using piezoelectric element”, Korea #10-1835097

  35. Cha, Y., Yang, K., 2011: “Data receiver and data receiving method”, Taiwan #I348272

  36. Cha, Y., You, B. -J., 2010: “Network transformation-apparatus, system and method for controlling robot using the same”, Korea #1041375

  37. Cha, Y., Yang, K., 2010: “Data receiver and data receiving method”, US #7741880

  38. Cha, Y., Yang, K., 2008: “Data receiver and method thereof”, Korea #0818796