Do-Hyeong Kim — accepted AI-conference papers

2020

Development of a Twisted String Actuator-based Exoskeleton for Hip Joint Assistance in Lifting Tasks

Hyeon-Seok Seong, Do-Hyeong Kim, Igor Gaponov, Jee-Hwan Ryu

ICRA 2020poster

This paper presents a study on a compliant cable-driven exoskeleton for hip assistance in lifting tasks that is aimed at preventing low-back pain and injuries in the vocational setting. In the proposed concept, we used twisted string actuator (TSA) to design a light-weight and powerful exoskeleton t…

Cited by 34 Source ↗Scholar ↗

2020

Successive Stiffness Increment and Time Domain Passivity Approach for Stable and High Bandwidth Control of Series Elastic Actuator

ChanIl Lee, Do-Hyeong Kim, Harsimran Singh, Jee-Hwan Ryu

ICRA 2020poster

For safe human-robot interaction, various type of flexible manipulators have been developed. Especially series elastic actuator (SEA) based manipulators have been getting huge attention since the elastic element of SEA prevents people from injury when undesirable collision happens. Moreover, it impr…

Cited by 4 Source ↗Scholar ↗