Intelligent Robotics Laboratory

[International]

• Daekyum Kim, Sang-Hun Kim, Taekyoung Kim, Brian Byunghyun Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, DongWook Kim, Junghan Kwon, Hochang Lee, Joonbum Bae, Yong-Lae Park, Kyu-Jin Cho, and Sungho Jo, " Review of machine learning methods in soft robotics," PLoS ONE, vol. 16, no. 2, pp. 1-24, Feb. 2021 (SCIE, IF 3.240)

• Byungchul Kim, Useok Jeong, Brian Byunghyun Kang, and Kyu-Jin Cho, "Slider-Tendon Linear Actuator with Under-Actuation and Fast-Connection for Soft Wearable Robots," IEEE/ASME Transactions on Mechatronics, vol. 26, no. 6, pp. 2932-2943, Jan. 2021 (SCIE, IF 5.303)

• Sangheui Cheon, Daekyum Kim, Sudeok Kim, Brian Byunghyun Kang, Jongeun Lee, HyunSik Gong, Sungho Jo, Kyu-Jin Cho, and Jooeun Ahn, "Single EMG Sensor-Driven Robotic Glove Control for Reliable Augmentation of Power Grasping," IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 1, pp. 179-189, Feb. 2021

• Brian Byunghyun Kang, Daekyum Kim, Hyungmin Choi, Useok Jeong, Kyu bum Kim, Sungho Jo, and Kyu-Jin Cho, "Learning-Based Fingertip Force Estimation for Soft Wearable Hand Robot with Tendon-Sheath Mechanism," IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 946-953, Jan. 2020 (SCIE, IF 3.741)

• Hyungmin Choi, Brian Byunghyun Kang, Bong-Keun Jung, and Kyu-Jin Cho, "Exo-Wrist: A Soft Tendon-Driven Wrist-Wearable Robot With Active Anchor for Dart-Throwing Motion in Hemiplegic Patients," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 4, pp. 4499-4506, Jul. 2019 (SCIE, IF 3.741)

• Brian Byunghyun Kang, Hyungmin Choi, Haemin Lee, and Kyu-Jin Cho, "Exo-Glove Poly II: A Polymer-Based Soft Wearable Robot for the Hand with a Tendon-Driven Actuation System," Soft Robotics, vol. 6, no. 2, pp. 214-227, Apr. 2019 (SCIE, IF 8.071)

• (Co-first) Daekyum Kim, Brian Byunghyun Kang, Kyu Bum Kim, Hyungmin Choi, Jeesoo Ha, Kyu-Jin Cho, Sungho Jo, "Eyes are faster than hands: A soft wearable robot learns user intention from the egocentric view," Science Robotics, vol. 4, no. 26, Jan. 2019 (SCIE, IF 23.956)

• Sung-Sik Yun, Brian Byunghyun Kang, and Kyu-Jin Cho, "Exo-Glove PM: An Easily Customizable Modularized Pneumatic Assistive Glove," Robotics and Automation Letters, vol. 2, no. 3, pp. 1725-1732, Jul. 2017 (SCIE, IF 3.741)

• Jun-Young Lee, Brian Byunghyun Kang, Dae-Young Lee, Sang-Min Baek, Woong-Bae Kim, Woo-Young Choi, Jeong-Ryul Song, Hyeong-Joon Joo, Daegeun Park, Kyu-Jin Cho, “Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge,” Frontiers in Robotics and AI, vol. 3, no. 63, pp. 1-11, Oct. 2016

• Hyunki In, Brian Byunghyun Kang, Minki Sin, and Kyu-Jin Cho, “Exo-Glove: Soft wearable robot for the hand using soft tendon routing system,” Robotics Automation Magazine, vol. 22, no. 1, pp. 97-105, Mar. 2015 (SCIE, IF 5.143)

[Domestic]

• Hyunki In, Useok Jeong, Brian Byunghyun Kang, Haemin Lee, Inwook Koo, and Kyu-Jin Cho, "Trend of Soft Wearable Robotic Hand," Journal of Institute of Control Robotics and Systems, vol. 21, no. 6, pp. 531-537, Mar. 2015

• Inwook Koo, Brian Byunghyun Kang, and Kyu-Jin Cho, "Development of Hand Exoskeleton using Pneumatic Artificial Muscle Combined with Linkage", Journal of the Korean Society for Precision Engineering, vol. 30, no. 11, pp. 1217-1224, Nov. 2013

[International]

• Brian Byunghyun Kang, Soomin Choi, Kyu Bum Kim, Seungho Shin, Hyungmin Choi, Yoon Young Kim, Kyu-Jin Cho, "Topology Optimized Design of Finger Body in Exo-Glove Poly II," IEEE International Conference on Soft Robotics (Robosoft), 2019

• Hyungmin Choi, Brian Byunghyun Kang, Bong-Geun Jung, and Kyu-Jin Cho, "Dart-Throwing Motion Assistance Soft Wrist Wearable Robot," IEEE International Conference on Soft Robotics (Robosoft), 2019

• Byungchul Kim, Useok Jeong, Brian Byunghun Kang, and Kyu-Jin Cho, "Compact Actuator with Tendon Transmission Box for Soft Wearable Robot," IEEE International Conference on Soft Robotics (Robosoft), 2019.

• Brian Byunghyun Kang, Soomin Choi, Kyu Bum Kim, Seungho Shin, Hyungmin Choi, Yoon Young Kim, Kyu-Jin Cho, "Soft Wearable Hand Robot Design Based on Topology Optimization," 19th International Conference on Control, Automation and Systems (ICCAS), 2019

• Hyungmin Choi, Brian Byunghyun Kang, Kyu Bum Kim, Byungchul Kim, SangHeui Cheon, Kyujin Cho, "Tendon connector for soft wearable tendon driven robot," 19th International Conference on Control, Automation and Systems (ICCAS), 2019

• SangHeui Cheon, Brian Byunghyun Kang, Byungchul Kim, Hyungmin Choi, Kyu Bum Kim, Kyujin Cho, "Exo-Glove Power: A Soft Wearable Hand Robot for Power Grasp Enhancement," 19th International Conference on Control, Automation and Systems (ICCAS), 2019

• Byungchul Kim, Brian Byunghyun Kang, SangHeui Cheon, Hyungmin Choi, Kyu Bum Kim, Kyujin Cho, "Wrist tendon anchor for soft wearable robot," 19th International Conference on Control, Automation and Systems (ICCAS), 2019

• Kyu Bum Kim, Brian Byunghyun Kang, Byungchul Kim, SangHeui Cheon, Hyungmin Choi, Kyujin Cho, "Thumb Actuation for Shaping Various Grasping Postures," 19th International Conference on Control, Automation and Systems (ICCAS), 2019

• Brian Byunghyun Kang, Hyungmin Choi, and Kyu-Jin Cho, "Teflon Tubes Selection based on Friction Tests for Exo-Glove Poly," 18th International Conference on Control, Automation and Systems (ICCAS), 2018

• Hyungmin Choi, Brian Byunghyun Kang, Kyu-Jin Cho, "Plane Thimble for Adaptive and Sensor Embeddable Design for Exo-Glove Poly," 18th International Conference on Control, Automation and Systems (ICCAS), 2018

• Hyungmin Choi, Brian Byunghyun Kang, Kyu-Jin Cho, "Development of a Tendon-driven Wrist Wearable Robot moving in Coupled Direction of the Wrist," 15th International Conference on Ubiquitous Robots (UR), 2018

• Haemin Lee, Brian Byunghyun Kang, Kyu-Jin Cho, “Branching tendon routing: A new tendon methodology for compact transmission,” International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 755-757, 2017

• Hyunki In, Brian Byunghyun Kang, Kyu-Jin Cho, “Pinching Performance of a Spinal Cord Injured Patient with Exo-Glove with Respect to the Tendon Route Design,” Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol. 15, pp. 463-467, Oct. 2016

• Haemin Lee, Brian Byunghyun Kang, Hyunki In, and Kyu-Jin Cho, "Design Improvement of a Polymer-Based Tendon-Driven Wearable Robotic Hand (Exo-Glove Poly)," Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol. 16, pp. 95-99, Oct. 2016

• Brian Byunghyun Kang, Haemin Lee, Hyunki In, Useok Jeong, Jinwon Chung, and Kyu-Jin Cho, "Development of a Polymer-Based Tendon-Driven Wearable Robotic Hand," IEEE International Conference on Robotics and Automation (ICRA), pp. 3750-3755, 2016

• Brian Byunghyun Kang, Haemin Lee, Kyu-Jin Cho, “Development of Passive Thumb Structure for Polymer-based Tendon-driven Wearable Robotic hand”, International Conference on Ubiquitous Robots and Ambient Intelligence, 2016.

• Useok Jeong, Hyunki In, Haemin Lee, Brian Byunghyun Kang, and Kyu-Jin Cho, "Investigation on the Control Strategy of Soft Wearable Robotic Hand with Slack Enabling Tendon Actuator," IEEE International Conference on Robotics and Automation (ICRA), pp. 5004–5009, 2015

• Hyunki In, Heamin Lee, Useok Jeong, Brian Byunhyun Kang, and Kyu-Jin Cho, "Feasibility study of a slack prevention actuator for actuating tendon-driven soft wearable robot without pretension," IEEE International Conference on Robotics and Automation (ICRA), pp. 1229-1234, 2015

• Hyunki In, Haemin Lee, Useok Jeong, Brian Byunghyun Kang, and Kyu-Jin Cho, "Investigation of design parameters of slack enabling actuator," International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 184-185, 2015

• Brian Byunghyun Kang, Woojin Park, and Kyu-jin Cho, "Development of 3D Printed Tendon Anchor for Force Transmission in Wearable Knee Exoskeleton," International Conference on Progress in Additive Manufacturing, 2014

• Sang-Yoep Lee, Brian Byunghyun Kang, and Kyu-jin Cho, “Simple modeling of Respiratory Rehabilitation and Assistance Robot,” International BioMedical Engineering Conference, 2014

• Haemin Lee, Hyunki In, Brian Byunghyun Kang, Useok Jeong, and Kyu-Jin Cho, “The improvement of the design of slack prevention mechanism for soft wearable robot“,  International BioMedical Engineering Conference, 2014

• Inwook Koo, Brian Byunghyun Kang, and Kyu-Jin Cho, “Novel Mechanism of Bending-type Pneumatic Artificial Muscle with Soft Joint,” International BioMedical Engineering Conference, 2014

• Brian Byunghyun Kang, Hyunki In, and Kyu-Jin Cho, “Force Estimation of MCP Joint Using Deformation Model in Soft Wearable Robotic Hand,” International BioMedical Engineering Conference, 2014

• Brian Byunghyun Kang, Hyunki In, Haemin Lee, Kyu-Jin Cho, “Manufacturing process of soft wearable robot hand“, International Conference of Manufacturing Technology Engineers, 2014.

• Daegeun Park, Hyunki In, Haemin Lee, Sangyeop Lee, Inwook Koo, Brian Byunghyun Kang, Keunyoung Park, Woo Sok Chang and Kyu-Jin Cho, "Preliminary study for a soft wearable knee extensor to assist physically weak people", International Conference on Ubiquitous Robots and Ambient Intelligence, pp.136-137, 2014.

• Hyunki In, Byungchul Kim, Brian Byunghyun Kang, Kyu-Jin Cho, "Clinical trials of soft wearable robot for the hand (Exo-Glove): The case of tetraplegia (C4)", International Conference on Ubiquitous Robots and Ambient Intelligence workshop, 2014

• Hyunki In, Daegeun Park, Haemin Lee, Sangyeop Lee, Inwook Koo, Brian Byunghyun Kang, Kyu-Jin Cho, "Toward a soft wearable knee extensor to assist physically weak people", International Conference on Ubiquitous Robots and Ambient Intelligence workshop, 2014

• Brian Byunghyun Kang, Hyunki In, and Kyu-jin Cho, "Modeling of tendon driven soft wearable robot for the finger," International Conference on Ubiquitous Robots and Ambient Intelligence, pp.459-460, 2013

• Brian Byunghyun Kang, HyunKi In, Kyujin Cho, "Force transmission in Join-less Tendon Driven Wearable Robotic Hand", International Conference on Control, Automation and Systems, pp. 1853-1858, 2012

[Domestic]

• 강병현, 김대겸, 최형민, 정우석, 김규범, 조성호, 조규진, “딥러닝을 이용한 텐던 구동 소프트 웨어러블 손 로봇의 손가락 끝 힘 예측," 제15회 한국로봇종합학술대회, 2020

• 강병현, 김대겸, 최형민, 정우석, 김규범, 조성호, 조규진, “딥러닝을 이용한 텐던 구동 소프트 웨어러블 손 로봇의 손가락 끝 힘 예측,” 대한기계학회 바이오공학부문 2020년 춘계학술대회, 2020

• 김규범, 강병현, 조규진, “Development of Geared Slack Enabling Actuator for Tendon Driven Mechanism,” 제 14회 한국로봇종합학술대회, 2019.

• 최형민, 강병현, 조규진, “엄지의 대립 움직임이 가능한 유연한 착용형 손 로봇 개발,” 제어로봇시스템학회, 2017

• 강병현, 최형민, 조규진, “유연한 착용형 손 로봇의 사용자 평가,” 2017 제32회 제어·로봇·시스템학회 학술대회(ICROS), 2017.

• 강병현, 이해민, 조규진, “Exo-Glove Poly의 착용성 사용성 평가,” 대한의용생체공학회 춘계학술대회, 2016

• 강병현, 정진원, 이해민, 인현기, 조규진, “유연한 착용형 손 로봇 개발을 위한 폴리머 몰드 디자인,” 한국로봇종합학술대회, 2016 (우수 포스터 논문상)

• 인현기, 강병현, 조규진, “Exo-Glove의 집기능력 성능평가,” 한국로봇종합학술대회, 2015

• 강병현, Gene Brown merewether, 이상엽, 조규진, “호흡 재활 보조 로봇 개발용 복부 모델 제작,” 한국로봇학회 제9회 한국로봇종합학술대회 논문집, 2014

• 이해민, 인현기, 강병현, 정우석, 조규진, “프리 텐션 없는 케이블 구동기의 설계변수 연구“, 대한기계학회 춘계학술대회 바이오공학부분, 2014

• 박대근, 강병현, 조규진, “보행 보조를 위한 유연한 발목 신전 보조 기기 개발“, 대한기계학회 춘계학술대회 바이오공학부분, 2014

• 이상엽, 강병현, Gene Brown Merewether, 박용재, 김사름, 최경준, 이대영, 조규진, “호흡 재활 및 보조 로봇,” 한국로봇학회 제9회 한국로봇종합학술대회 논문집, 2014

• 인현기, 강병현, 조규진, “손 마비 환자의 일상생활 보조를 위한 SNU Exo-Glove의 개발,” 제44회 대한의용생체공학회 춘계학술대회, 2012

• 대한민국특허등록(1020935550000) “엄지 손가락 움직임이 향상된 착용형 손 로봇”, 등록일: 2020.03.19.

• 대한민국특허등록(1020701380000) “착용형 손 로봇”, 등록일: 2020.01.20.

• 국제특허출원(PCT/KR2019/014855) “사용자의 의도 예측 방법 및 이를 수행하기 위한 장치”, 출원일: 2019.11.04.

• 대한민국특허출원(1020190139747) “사용자의 의도 예측 방법 및 이를 수행하기 위한 장치”, 출원일: 2019.11.04.

• 대한민국특허등록(1018645060000) “착용형 손 로봇”, 등록일: 2018.05.29.

• 대한민국특허등록(1017939060000) “착용형 손 로봇”, 등록일: 2017.10.31.

• 국제특허출원(PCT/KR2016/012883) “Wearable Hand Robot”, 출원일: 2016.11.10.

• 대한민국특허등록(1016354150000) “공압 인공 근육”, 등록일: 2016.06.27.

• 대한민국특허등록(1014967420000) “휴대용 휠체어”, 등록일: 2015.02.23.

• 대한민국특허등록(1013007970000) “장애물 감지장치, 이를 채용한 안전 자전거 및 안전모자”, 등록일: 2013.08.21.