A5063662731- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Iterative Learning Control Systems
- Lower Extremity Biomechanics and Pathologies
- Robotic Locomotion and Control
- Advanced Sensor and Energy Harvesting Materials
- Piezoelectric Actuators and Control
- Mechanics and Biomechanics Studies
- Sports Performance and Training
- Teleoperation and Haptic Systems
- Diabetic Foot Ulcer Assessment and Management
- Mechanical Engineering and Vibrations Research
- Manufacturing Process and Optimization
- Gait Recognition and Analysis
- Mechanical Circulatory Support Devices
- Foot and Ankle Surgery
- Stroke Rehabilitation and Recovery
- Modular Robots and Swarm Intelligence
- Balance, Gait, and Falls Prevention
- Conducting polymers and applications
- Structural Health Monitoring Techniques
- Endometriosis Research and Treatment
Chung-Ang University
2006-2024
Harvard University
2017-2018
CHA Bundang Medical Center
2018
Seoul National University
2005-2016
Korea Institute of Science and Technology
2016
Seoul National University of Science and Technology
2015
Gyeongsang National University
2006-2007
Seoul National University Bundang Hospital
2006
National University of Singapore
2005
University of Ulsan
2005
Walking and running have fundamentally different biomechanics, which makes developing devices that assist both gaits challenging. We show a portable exosuit assists hip extension can reduce the metabolic rate of treadmill walking at 1.5 meters per second by 9.3% 2.5 4.0% compared with locomotion without exosuit. These reduction magnitudes are comparable to effects taking off 7.4 5.7 kilograms during running, respectively, in range has shown meaningful athletic performance changes. The...
In this paper, we present a design and control approach of modular off-board actuation system with mono-articular hip exosuit, enabling the instantaneous assistive profile modification magnitude, shape, timing. The consists an unit two degrees freedom that can transmit forces to our soft exosuit via Bowden cables. To perform accurate force tracking cable slack management, implemented switching admittance-position utilizes advantages both admittance position control. particular, feedforward...
This paper shows that redundant actuation can reduce the energy consumption of parallel mechanisms, in some cases by a considerable margin. A theoretical analysis for energy-saving mechanism is elucidated, and an model servo-motor system proposed. Our hypothesis experimentally verified with widely used two degree freedom design driven three actuators. Experimental results show electrical actuators up to 45% compared corresponding nonredundantly actuated version mechanism.
Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments replace human workers. speed, payload capacity, the ability overcome obstacles, and wall‐to‐wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheel‐type proposed enhance these characteristics. The developed for five years collaboration with three universities: Seoul National University, Carnegie Mellon Yeungnam University....
Soft exosuits are a new approach for assisting with human locomotion, which applies assistive torques to the wearer through functional apparel. In this paper, we present version of autonomous multi-joint soft exosuit gait assistance, particularly designed overground walking. The assists ankle plantarflexion, hip flexion, and extension, equally distributing forces between plantarflexion flexion. A mobile actuation system was developed generate high forces, Bowden cables used transmit exosuit....
We present an autonomous and portable hip-only soft exosuit, for augmenting human walking running that assists hip extension by delivering peak forces of 300N to the user. Different fixed assistance profiles were applied based on online classification algorithm. The approach is biomechanical understanding center mass potential energy fluctuations during are out phase. Specifically, we monitor vertical acceleration with abdomen-mounted IMU at moment maximum extension. Validation demonstrated...
This study presents the design of a lower limb-worn, soft wearable robot that assists ankle plantar flexion using textiles and shape memory alloy (SMA) wire actuator. Textile-based clothing-type robots, smart clothes in short, are proposed to build exoskeleton is inherently lightweight comfortable for wearer. SMA actuators embedded provide assistive forces The actuator low-profile wire-type artificial muscle actuator, which can be on textile without any extruded parts clothing. We have built...
The junctional epithelium (JE) is unique with regard to its wide intercellular spaces and sparsely developed junctions. Thus, knowledge of the molecular mechanisms that regulate formation junctions may be essential understand pathophysiology JE. HOK-16B cells, a normal human gingival epithelial cell line, were used identify molecules involved in regulation E-cadherin between cells. Activation c-Jun N-terminal kinase (JNK) disrupted through dissociation E-cadherin. role JNK these was further...
The use of wearable robots to provide walking assistance has rapidly grown over the past decade, with notable advances made in robot design and control methods toward reducing physical effort while performing an activity. reduction mainly been achieved by assisting forward progression sagittal plane. Human gait, however, is a complex movement that combines motions three planes, not only but also transverse frontal planes. In plane, hip joint plays key role including balance. However,...
Transitioning capability and high payload capacity are problems for climbing robots. To increase the possible applications robots, these two abilities required. We present a new robotic platform named "Combot" to achieve both transitioning capacity. The robot is composed of three main modules with flexible magnetic treads, connecting links torsion springs torque-controlled motors, an active tail at end robot. can perform internal external transitions using compliant torques from tail....
Abstract As a valuable tool for harvesting energy, triboelectric nanogenerators (TENGs) exhibit notable advantages over other energy‐harvesting methods in terms of their low weight, cost and high‐power density. Despite application potential the domain portable electronics, TENGs limited maximum output owing to high surface charge density during operation. Furthermore, inherently produce alternative current (AC); thus, an additional electrical circuit such as rectifying must be used power...
In this article, we propose a compact variable gravity compensation (CVGC) mechanism with geometrically optimized lever shape. The CVGC can be used to generate torque by employing cam and also amplify the varying pivot point of lever. Among these advantages, aimed maximize ratio generation an First, concept details are explained. Next, conceptual benefit using curved instead original is Afterward, modeling mechanics testbed presented for force analysis. Based on B-spline curve...
The performanceof previous machine learning models for gait phase is only satisfactory under limited conditions. First, they produce accurate estimations when the ground truth of (of target subject) known. In contrast, a subject not used to train an algorithm, estimation error noticeably increases. Expensive equipment required precisely measure phase. Thus, methods have practical shortcoming are optimized individual users. To address this problem, study introduces unsupervised domain...
This article proposes a new version of variable gravity compensation mechanism (CVGC-II) for mobile manipulation robots, such as manipulators and exoskeletons. CVGC-II, which incorporated an energy-free in smaller design space, exhibited improved performance with wider range torque values. These enhancements were achieved by adopting optimal curved lever hybrid spring system. First, the concept specifications CVGC are described. Next, contribution system to enhancement CVGC-II is explained....
Abstract Background Human beings can enhance their distance running performance with the help of assistive devices. Although several such devices are available, they heavy and bulky, which limits use in everyday activities. In this study, we developed a lightweight device low-profile design. The applies flexion moment to hip according extension within specific range motion assist running. Methods A passive exosuit was fabricated using textile materials elastic bands. deformation suit...
We present a novel haptic interface, named VirtuaPower, having high-force display capability (FDC) and wide workspace with six-degree-of-freedom position measurement FDC. The overall mechanism of VirtuaPower is designed based on parallel pair five-bar mechanisms supporting the end-platform. This enhances high-FDC overcomes problem small-size workspace, which are pros cons mechanisms, respectively. First, we conceptual design prototype VirtuaPower. Then, formulate forward kinematic constraint...