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International Journal

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International Journal

SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 20, No. 6, Nov. 2024

J. Park, S. Jang, M. Park, H. Park, J. Yoon, and M. Hwang [pub link] [pdf]

Efficacy of robot arm-assisted endoscopic submucosal dissection in live porcine stomach (with video)

Scientific Reports, 14:17367, July, 2024

J. Kim, D. H. Lee, D. S. Kwon, K. Park, H. J. Sul, M. Hwang, and S. W. Lee [pub link] [pdf]

Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network

IEEE Robotics and Automation Letters (RA-L), Vol. 9, No. 7, pp. 6091-6098, May, 2024

J. Park, S. Jang, H. Park, S. Bae, and M. Hwang [pub link] [pdf]

Asymmetric Rolling Contact Joint for Enhanced Payload Capabilities

IEEE/ASME Transactions on Mechatronics, July, 2023

J. Ahn, M. Hwang, D. Kong, J. Kim, and D. S. Kwon [pub link] [pdf]

Sigmoidal Auxiliary Tendon-Driven Mechanism Reinforcing Structural Stiffness of Hyper-Redundant Manipulator for Endoscopic Surgery

Soft Robotics, April 13, 2023

H. Kim, J. M. You, M. Hwang, K. Kyung, and D. S. Kwon [pub link] [pdf]

Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans

IEEE Transactions on Automation Science and Engineering (T-ASE) , Vol. 20, No. 2, pp. 909-922, April 2023

M. Hwang, J. Ichnowski, B. Thananjeyan, D. Seita, S. Paradis, D. Fer, T. Low, and K. Goldberg [pub link] [pdf]

Bed-mounted laparoscopic surgical robot system with novel positioning arm mechanism

The International Journal of Medical Robotics and Computer Assisted Surgery, April, 2022

D. G. Chung, M. Hwang, B. Cheon, D. Kong, D. H. Kang, D. H. Lee, C. K. Kim, D. Kim, J. M. Han, Y. G. Kim, D. S. Kwon
[pub link] [pdf]

Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones

IEEE Robotics and Automation Letters (RA-L), Vol. 6, No. 3, pp. 4915-4922, July, 2021

B. Thananjeyan, A. Balakrishna, S. Nair, M. Luo, K. Srinivasan, M. Hwang, J. E. Gonzalez, J. Ibarz, C. Finn, and K. Goldberg [pub link] [pdf]

A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery

The International Journal of Medical Robotics and Computer Assisted Surgery, July, 2021

U. J. Yang, D. Kim, M. Hwang, D. Kong, J. Kim, Y. Hoon, Nho, W. Lee, and D. S. Kwon [pub link] [pdf]

A Highly Intuitive and Ergonomic Redundant Joint Master Device for 4-Degrees of Freedom Flexible Endoscopic Surgery Robot

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 17, No. 1, Feb. 2021

J. Ahn, J. Kim, H. Lee, M. Hwang, and D. S. Kwon [pub link] [pdf]

Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation

IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 5937-5944, Oct. 2020

M. Hwang, B. Thananjeyan, S. Paradis, D. Seita, J. Ichnowski, D. Fer, T. Low, and K. Goldberg [pub link] [pdf]

K-FLEX: A flexible robotic platform for scar-free endoscopic surgery

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 2, April 2020

M. Hwang and D. S. Kwon [pub link] [pdf]

Evaluation of a robotic arm assisted endoscope to facilitate endoscopic submucosal dissection (with video)

Gastrointestinal Endoscopy, Vol. 91, No. 3, pp. 699-706, March 2020

M. Hwang, S. W. Lee, K. C. Park, H. J. Sul, and D. S. Kwon [pub link] [pdf]

Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 1, Feb. 2020

H. Kim, M. Hwang, J. Kim, J. M. You, C. S. Lim, and D. S. Kwon [pub link] [pdf]

Strong Continuum Manipulator for Flexible Endoscopic Surgery

IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 5, pp. 2193-2203, Oct. 2019

M. Hwang and D. S. Kwon [pub link] [pdf]

A 3-Degrees-of-Freedom Gravity-Compensated Robotic Arm with Roll-Pitch-Translational Motion for Remote Center of Motion

IEEE Robotics and Automation Letters, Vol. 4, No. 4, pp. 3473-3480, Oct. 2019

C. K. Kim, D. G. Chung, M. Hwang, B. Cheon, H. Kim, J. Kim, and D. S. Kwon [pub link] [pdf]

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 1, Feb. 2018

H. Lee, B. Cheon, M. Hwang, D. Kang, and D. S. Kwon [pub link] [pdf]

A single port surgical robot system with novel elbow joint mechanism for high force transmission

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 13, No. 4, Dec. 2017

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
[pub link] [pdf]

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