Geun Young Hong — accepted AI-conference papers

2021

Tendon-Driven Compliant Prosthetic Wrist Consisting of Three Rows Based on the Concept of Tensegrity Structure

Geon Lee, Geun Young Hong, Youngjin Choi

RA-L 2021

One degree-of-freedom (DoF) virtual rolling-contact joint for the prosthetic wrist is proposed in this letter. For prosthetic wrists, the wrist mechanism should basically be lightweight and have a wide range of motion (RoM). In addition, it is desirable to have compliant characteristics to protect a

Cited by 20 Source ↗Scholar ↗

2019

Passivity based Control of Antagonistic Tendon-Driven Mechanism

Junho Park, Geun Young Hong, Youngjin Choi, Dongliang Peng, Qiang Lu

ICRA 2019poster

The paper presents a passivity-based control law for an antagonistic tendon-driven mechanism. It is proven, by using the passivity theorem, that the proposed control law is able to achieve two properties such as the passivity of interconnected subsystems when the external torque is applied and the g…

Cited by 1 Source ↗Scholar ↗