Jungwook Suh

2 accepted papers

2026

A New Decoupling Method for Cable-Driven Joints Based on an Anti-Parallelogram Mechanism

Seungcheol Oh, Seungbum Lim, Jungwook Suh

ICRA 2026poster

This paper proposes a novel anti-parallelogram mechanism (APM)-based cable-driven joint that achieves both the kinematic decoupling characteristic of rolling joints and the surface-contact robustness of link structures. Through the optimization of internal idlers, the cable path length remains nearl…

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2023

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Jungwook Suh, Wontae Choi

RA-L 2023

The structure of 1-DOF joints used in existing robots is generally a revolute or a prismatic joint. However, recently, attempts have been made to apply rolling joints to reduce the size and weight of surgical and humanoid robots. In this study, to take advantages of wire routing through robot joints

Cited by 2 Source ↗Scholar ↗