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I'm a postdoc at UC Berkeley in the AUTOLAB (link), where I am currently working on surgical automation with Prof. Ken Goldberg (link).
Previously, I was a postdoc at KAIST in the TCL (link), where I received my B.Sc, M.Sc, and Ph.D in Mechanical Engineering, advised by Prof. Dong-Soo Kwon (link).
[Email] / [Google Scholar] / [GitHub] / [C. V.]
Last updated at January 7, 2020
Research Interests
Flexible Surgical Robots / Continuum Robots
Surgical Task Automation and Learning
Reinforcement Learning for Robots
Tele-robotics and Control / Efficient Trajectory Planning
Education
Ph.D. in Department of Mechanical Engineering, KAIST, 2017
M.Sc. in Department of Mechanical Engineering, KAIST, 2012
B.Sc. in Department of Mechanical Engineering, KAIST, 2010
Affiliation
2019.06~current: University of California Berkeley, Postdoctoral Researcher
2018.07~2019.05: Ujin Tech. Incorporated, General Director of Technology
2017.08~2018.07: Korea Advanced Institute of Science and Technology, Postdoctoral Researcher
Honors and Awards
Top 10 Mechanical Engineering Technology (2019. 11)
"Flexible Endoscopic Surgery Robot, K-FLEX"
The Korean Federation of Mechanical Engineering Societies,Best Paper Award (2018. 11)
"A flexible endoscopic surgery robot K-FLEX and its feasibility validation in in-vivo animal trial"
The 14th Asian Conf. on Computer Aided Surgery (ACCAS)Best Application Award and Overall Winner (2018. 6)
"Flexible Endoscopic Surgery Robot, K-FLEX"
The Int. Surgical Robotics Challenge, Hamlyn Symposium on Medical RoboticsBest paper Award (2015. 6)
"A steerable endoscopic robot for endonasal skull base surgery: development and a cadaver experiment"
The Int. Society of Computer Aided Surgery (ISCAS)Finalist for the Best Paper Award (2013. 9)
"A Flexible Endoscopic Surgery Robot for NOTES and its In-vivo Animal Experiment"
The 9th Asian Conference on Computer Aided Surgery (ACCAS)
Journal Publications
unilateral_CAL+OPT_7.mp4Unilateral
bilateral_CAL+OPT_1.mp4Parallel Bilateral
handover_CAL+OPT_7.mp4Handover
A Highly Intuitive and Ergonomic Redundant Joint Master Device for 4-Degrees of Freedom Flexible Endoscopic Surgery Robot
J. Ahn, J. Kim, H. Lee, M. Hwang, and D. S. Kwon
The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2020 [paper]
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation
M. Hwang, B. Thananjeyan, S. Paradis, D. Seita, J. Ichnowski, D. Fer, T. Low, and K. Goldberg
IEEE Robotics and Automation Letters (RA-L), 2020 [paper] [website]
K-FLEX: A Flexible Robotic Platform for Scar-Free Endoscopic Surgery
M. Hwang and D. S. Kwon
The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2020 [paper]
Conventional Endoscope
Proposed Strong Continuum Manipulator
Evaluation of a robotic arm assisted endoscope to facilitate endoscopic submucosal dissection
M. Hwang, S. W. Lee, K. C. Park, H. J. Sul, and D. S. Kwon
Gastrointestinal Endoscopy (GIE), 2020 [paper]
Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot
H. Kim, M. Hwang, J. Kim, J. M. You, C. S. Lim, and D. S. Kwon
The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2020 [paper]
Strong Continuum Manipulator for Flexible Endoscopic Surgery
M. Hwang and D. S. Kwon
IEEE/ASME Transactions on Mechatronics (TMECH), 2019 [paper]
A 3-Degrees-of-Freedom Gravity-Compensated Robotic Arm with Roll-Pitch-Translational Motion for Remote Center of Motion
C. K. Kim, D. G. Chung, M. Hwang, B. Cheon, H. Kim, J. Kim, and D. S. Kwon
IEEE Robotics and Automation Letters (RA-L), 2019 [paper]
A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system
H. Lee, B. Cheon, M. Hwang, D. Kang, and D. S. Kwon
The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2018 [paper]
A single port surgical robot system with novel elbow joint mechanism for high force transmission
M. Hwang, U. J. Yang, D. Kong, D. G. Chung, J. Lim, D. H. Lee, D. H. Kim, D. Shin, T. Jang, J. W. Kim, and D. S. Kwon
The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2017 [paper]
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