Publication | robot

Journal

2024

Y. Sim, S. Choi, H. Park, U. Seo, and H. Yi*, Moving Window-based Active Assisted Mode Control using Upperlimb Wearable Rehabilitation Robots, IEEE RAL (SCIE, Submitted)
J. Kim, H. Yi, D. Hwang, K. Kim, J. Cho, Y. Lee*, Gait patterns during tripping: Unconscious selection of recovery strategy depending on the relative position of the center of mass (CoM) and base of support (BoS), JMST (SCIE, submitted)
H. Park, R. Langari, H. Yi*, Design and Testing of Double-Wishbone Suspension for Enhanced Outdoor Maneuver Stability of a Six-Wheeled Mobile Robot, Mechatronics, Nov., 2024 (SCIE)
H. Park, M. Shin, G. Choi, Y. Sim, J. Lee, H. Yun, M. B. Jun, G. Kim, Y. Jeong, H. Yi*, Integration of an exoskeleton robotic system into a digital twin for industrial manufacturing applications, Robotics and Computer-Integrated Manufacturing, Oct., 2024, 89 (SCIE)
O. Kang, J. Yun, S. Seo, H. Joe, H. Yi, S. Lee*, A Novel Design of Unpowered Exoskeleton for Loaded Walking Using Only Hip Abduction Torque, IEEE Mechatronics, Aug., 2024 (SCIE)
J. Lee, H. Lee, H. Yi*, A Study on the Measurement of Ship Hull Paint Thickness Using Collaborative Robots and Depth Cameras,
Journal of Korean Society Precision Engineering, Sep., 2024 (Scopus, In Press)
J. Lee, H. Lee, H. Yi*, Control of Collaborative Robot Based on Impedance Contact Model for Ship Hull Painting Operations, Trans. Korean Soc. Mech. Eng. C - Technology and Education, Sep., 2024 (KCI, In Press)
U. Suh, S. Choi, H. Park, T. Kim, K. Oh, H. Yi*, Passive Mode Control of 2 DOF Wearable Upper-Limb Rehabilitation Robot, Journal of Korean Society Precision Engineering, Aug., 2024 (Scopus)
J. Lee, H. Woo, D. Ahn, M. Jo, H. Yi, K. Kim*, Development of an Electronically Controlled Knee-Type Prosthetic Leg with a 4-Bar Linkage Structure for Lower Limb Amputee, 19(2), 2024, Journal of Korea Robotics Society (Scopus)
S. Choi, H. Yi, C.Park, S. Joo, O. Kwon and D. Lee*, Development of a Digital Otoscope-Stethoscope Healthcare Platform for Telemedicine, Journal of Biomedical Engineering Research, 45, 3, 2024 (KCI)
K. Jeon, E. Jung, J. Bae, S. Park, J. Kim, G. Chung, H. Chung*, H. Yi, Development of an In-Pipe Inspection Robot for Large-Diameter Water Pipes, Sensors, 2024, 3470 (SCIE)
J. Hwang, H. Park, H. Yi*, Deep U-NET Based Heating Film Defect Inspection System, International Journal of Precision Engineering and Manufacturing, 2024 (SCIE)

2023

[J39] T. Park, H. Yi*, Decision of impedance-based scaling factor for workspace mapping in teleoperation, JMST, 37(11). (SCIE)

[J38] C. Yeoh, M. Ahn, S. Choi, H. Yi*, Time Efficiency Improvement in Quadruped Walking with Supervised Training Joint Model, Applied Sciences,
13(4), 2658. (SCIE)

[J37] B. Park, H. Choi, H. Seo, Y. Je, H. Yi, K. Park*, Development of Multilayer Transducer and Omnidirectional Reflection Model for Active
Reflection Control, Sensors 23 (1). (SCIE)

[J36] K. Jeon, H. Chung*, E. Jung, J. Kang, S. Son, H. Yi, Development of Shoulder Muscle-Assistive Wearable Device for Work in
Unstructured Postures, Machines, 11(2). (SCIE)

2022

[J35] J Park, B. An, O Kwon, H Yi*, C Kim*, User intention based intuitive mobile platform control: application to a patient transfer
robot, IJPEM , 2 3(6), 2022. (SCIE)

[J34] K. Jung, H Yi*, Design of Hand Rehabilitation Robot using Linkage Sliding Mechanism, J. Kor.Soc. Mech. Tech., 24(3), 2022. (KCI)

[J33] J. He, S. Lee, H. Yi*, Dynamic Modeling of Compactor in Automation System for Rammed Earth Construction, J.Kor.Soc. Mech. Tech.,
24(2). (KCI)

[J32] J. Jang, K. Lee, S. Joo, O. Kwon, H. Yi, D. Lee*, Smart Helmet for Vital Sign-Based Heatstroke Detection Using Support Vector
Machine, 31 (6), 2022. (KCI)

2021

[J31] H. Lee, H. Yi*,Development of an Onboard Robotic Platform for Embedded Programming Education, Sensors 21(11), Jun.,
2021 (SCIE )

[J30] H. Park, Y. Sim, O. Kwon, H. Yi*, S. Lee, Design of Compound Planetary Gear Reducer for Mobile Robot Actuator, J. Kor.Soc.
Mech. Tech., 23(2), May., 2021. (KCI)

[J29] C. Yeoh, H. Yi*,Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants Structure, Applied Science 11(4), Feb.,
2021 (SCIE )

[J28] J. Kong, W. Kwon, H. Yi*, Development of 6 DOF Upper-limb Patient Simulator for Hands-on Rehabilitation Education, IEEE MRB,
3(1), Jan., 2021 (SCOPUS)

[J27] J. Pyun, B. Park, Y. Kim, Y. Won, H. Yi, J. Lee, H. Seo, K. Park, Design and Analysis of an Active Reflection Controller That Can
Reduce Acoustic Signal Refer to the Angle of Incidence, Sensors 21 (17), 5793 (SCIE)

2020

[J26] Workspace Mapping with Adaptive Fuzzy Control for Robotic Manipulator in Tele-operation, J. Mech. Sci. Tech.34, (5), May,
2020 (SCIE )

[J25] C. Kim, Y. Kim, H. Yi*, Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning, Electronics, 9(2), Feb., 2020
(SCIE )

2019

[J24] H. Lee, J. Kong, H. Yi*, Prototype Design and Verification of 3 DOF Rehabilitation Simulator, J. Kor.Soc. Mech. Tech., 21(6),
Dec., 2019 (KCI)

[J23] M. Kim, Y. Sim, S. Lee, H. Yi*,Enhancing Mobility Using Optical flow Estimation of a Tracked Mobile Robot on Unstructured
Environments, J. Kor.Soc. Mech. Tech., 21(6), Dec., 2019 (KCI)

[J22] H. Lee, H. Park, K. Park, H. Yi*,Application of Adaptive Wave Cancellation Underwater to a Piezoelectric-Material-Based
Multilayer Sensor, Sensors, Dec.,2019 (SCIE )

[J21] Robust Control of the Line-of-Sight Stabilization System Considering Uncertainties of the Friction, J. Korean Soc.
Precis. Eng., Jun., 2019 (SCOPUS)

[J20] G. Lee, H. Yi*, Design and Control of Cylindrical Linear Series Elastic Actuator, J. Korean Soc. Precis. Eng., Jan.,
2019 (SCOPUS)

2018

[J19] S. Kim, H. Yi, C. Kim*, Application of the Analytic Hierarchy Process on Automatic Exploration Method for a Mobile Robot Working
Environment Map Building, Journal of Institute of Control, Robotics and Systems, 24(12), 2018 (SCOPUS)

[J18] J. Yun, S. Lee, H. Yi*, Torqued Torque-compensation for energy-efficient motion of robotic limbs in a stance, J. Mech.
Sci. Tech., 32(12), 2018 (SCIE)

[J17] C. Kim, Y. Kim, O. Kwon, J. Seo, D. Lee, H. Yi*, Application of the Brain Limbic System Based Control to the Electro-
Mechanical Brake System, Advanced in Mechanical Engineering, 10(2), 2018 (SCIE)

[J16] K. Kang, S. Oh, H. Yi, S. Han, Y. Hwang*, Fabrication of truly 3D microfluidic channel using 3D-printed soluble mold,
Biomicrofluidics, 014105,12, 2018 (SCIE )

2017

[J15] D. Lahr, H.Yi*, Improving the Energy Efficiency of Bipedal Robots with Bi-articular Actuation, J. Advanced Mechanical
Design, Systems, and Manufacturing, 11(5), 2017 (SCIE)

[J14] T. Park, C. Hwang, H. Yi*, S. Lee*, Workspace Mapping using Auto-switching Mode, Adv. Sci. Lett., 23(10), pp. 9616- 9620,
2017 (SCOPUS)

[J13] O. Kang, S. Lee, J. Yun, H. Yi, M. Kwak, S. Lee, Adhesion Tunable Bio-Inspired Dry Adhesives by Twisting, Int. J. Precis. Eng.
Manu., 18(10), pp. 1433-1437, 2017 (SCIE)

[J12] M. Heo, H. Yi*, C. Oh, Preliminary study on Development of Ship-Rolling-Motion-Adaptive LED Fishing Lamp System, J. Korean
Soc. Precis.Eng., 34(8), 2017 (SCOPUS)

[J11] M. Ahn, S. Cho, C. Oh, S. Lee, H. Yi*, Intelligent Control of Humanoid Manipulation with Uncertain Weight Objects, Int. J.
Adv. Robot System, May-June, pp.1-11, 2017 (SCIE)

[J10] S. McGill, S. Yi, H. YI, M. Ahn, S. Cho, K. Liu, D. Sun, B. Lee, H. Jeong, J. Huh, D. Hong, D. Lee, Team THOR's Entry in the
DARPA Robotics Challenge Finals 2015, J. of Field Robotics, 34(4), pp.775–801, 2017 (SCIE)

2016

[J9] H.Yi*, M.S. Ahn, D. Hong, Adaptive Fuzzy-PI control of redundant humanoid arm using full-body balance, J. of Intelligent
& Fuzzy Systems, 30(1), pp.613-621, 2016. (SCIE)

[J8] H.Yi*, C. Knobe, T. Pesek, D. Hong, Experiential Learning in the Development of a DARwIn-HP Humanoid Educational Robot,

J. of Intelligent & Robotic Systems, 81(1), pp.41-50, 2016. (SCIE)

[J7] D.F. Lahr, H. Yi*, D. Hong, Biologically inspired design of a parallel actuated humanoid robot, Advanced Robotics, 30(2),

pp.109-118, 2016. (SCIE)

[J6] J.S. Kang, H. Kim, J. Choi, H. Yi, S.C. Seo, G.N. Bae, J.H. Jung, Antimicrobial Air Filter Fabrication Using a Continuous High-

Throughput Aerosol-Based Process, Aerosol and Air Quality Research, 16(8), pp. 2059-2066, 2016 (SCIE)

[J5] H. Yi, C. S. Hong, C. Y. Oh*, Development of Haptic System for Virtual Wall Collision, J. Kor.Soc. Mech. Tech., 18(6) (KCI)

[J4] C. S. Hong, H. Yi, C. Y. Oh*, The Effect of a Platykurtic Excitation Signal on Fatigue Life, J. Kor.Soc. Mech. Tech., 18(6) (KCI)

2015

[J3] H. Yi*, A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator, Int. J. of Advanced

Robotic Systems, 12(158), pp.1-8, 2015. (SCIE)

[J2] H. Yi*, C.Y. Oh, R. Langari, Design and Analysis of an Innovative Modular Robotic Manipulator, Int. J. of Robotics &

Automation, 30(5), pp.503-510, 2015.(SCIE)

[J1] H. Yi*, R. Langari, A Design and Bio-inspired Control of a Novel Redundant Manipulator with M-DOFS Links, Int. J. of Robotics

& Automation, 27(4), pp.422-430, 2012.(SCIE)

Conference

2023

[C30] 영상처리 기반의 선박 내부의 도장 정보 검출, 한국정밀공학회 2023 추계학술대회, 서우현, 박훈민, 최성식, 공재호, 이학.

[C29] 외골격형 상지 재활 운동 로봇의 기구학적 분석 및 운동궤적 생성, 한국정밀공학회 2023 추계학술대회, 서우현, 박훈민, 최성식, 공재호, 이학.

[C28] 협동로봇을 이용한 페인트 도장 표면의 접촉 응력 측정, 대한기계학회 2023년 학술대회, 이준재, 이효석, 이학.

[C27] Predictive Control for Autonomous Differential Drive Mobile Robot Indoor, ICROS 2023, S. Jung, H. Park. S. Choi, Y. Sim, H. Yi.

[C26] Human involved Cyber-Physical system using virtual reality interface, The Manufacturing Engineering Division (MED) of ASME, H. Park, H. Park, Y. Sim, H. Yi, July.2023

[C25] Optimal Design of 2-DOF upper-limb Wearable Robot with Particle Swarm Optimization, IEEE ICRA 2023, H. Park, H. Park, Y. Sim, H. Yi, May.2023

2022

[C24] Design of Active Knee-type Prosthetic Leg using Worm Gear for Lower Limb Amputee, ICCAS 2022, J. Lee, H. Yi, H. Woo, Oct. 2022

[C23] Development of Robot Arm-type Haptic Feedback Device For virtual reaility-based robotic manufacturing, ASME 2022 17th International Manufacturing Science and Engineering Conference (MSEC2022), Y. Sim, H. Park, H. Yun, D. Lee, S. Lee, M. Jun, H, Yi, June 2022

[C22] Kinematic Analysis of 1-DOF Wearable Elbow Rehabilitation Robot, KSPE PREMS(2022), G. Jung, H. Yi, H. Park, H. Park, Y. Sim, July 2022

[C21] Fuzzy PID Control for 2-Dof Underwater Observation Robotic System, The 13th Asian Control Conference (ASCC 2022), H. Park, H. Park, H. Lee, U. Seo, S. Jeong, G. Jeong, J. Lee, H. Yi, Apr.2022

2019

[C20] The Combination Function for Multi-Leg Modular Robot, Bio-Mimicked from Ant’s Behavior, IROS 2019, Chin Ean Yeoh, Tae-hyun Kim, Sang-Ryong Lee, Hak Yi

[C19] Development of a Mobile robot with variable continuous-track in IRC, MinGyu Kim, HyoDong Lee. SangRyong, Lee, and Hak Yi, URAI 2019, Jeju juy 2019.

2018

[C18] Design of robotic manipulator for rehabilitation education, J. Kong, J. Ha, Y. Sim, Y. Kwon, Hak Yi*, Korean Society for
Mechanical Engineering 2018 Conference, JeongSun, South Korea, Dec. 2018

[C17] Optimal Leg of a Quadruped Walking Robot,J. Ha, J. Lee, E. Yeoh, S. Lee, H. Yi*, 18th International Conference on Control,

Automation and Systems (ICCAS 2018),PyeongChang, South Korea, Oct. 2018

[C16] Analysis on the Structure and Systems of Humanoid type Ski Robot ALEXI, J. Kong, O. Kwon, T. Park, J. Ha, J. Lee, K. Lee, M.

Kim, H. Lee, H. Lee, S. Lee, H. Yi*, 2018 ICROS, Buan, South Korea, May. 2018

[C15] Autonomous SLAM system by an Application of FastSLAM and Fast Randomized Planner, based on Particle filter, ICROS 2018,
Buan, South Korea, May. 2018

[C14] Development of Bacterial Growth and Antibacterial Characteristics Analysis System,J. Kim, O. Kwon, H.Lee, D. Lee, Korean
Society for Precision Engineering 2018 Conference, Jeju, South Korea, May. 2018.

[C13] Linear Series Elastic Actuator(LSEA) Design applied in Ski robots, K. LEE, T. Park, O. Kwon, S. Lee, M. Kim, #Yi, H, Korean

Society for Precision Engineering 2018 Conference, Jeju, South Korea, May. 2018.

[C12] The Edge of SKI ROBOT CHALLENGE Competition: ALEXI, E. Yeoh, O. Kwon, T. Park,J. Ha, J. Kong, J. Yun, J. Lee, K. Lee, M.

Kim, H. Lee, H. Lee, S. Lee, H. Yi*, KSME Conference (Daegu/Gyeongbuk Branch), Daegu, South Korea, April. 2018.

2017

[C11] Development of Optimal Path Algorithms for Robot Type Wheelchair Transfer Mechanism, JungHwan Yun, Oh Hyun Kang, TaeMoon

Park, JaeHo Kong, MinGeun Seok, Hak Yi and Sang Ryong Lee, Proc. of the ASME 2017 Int. Mech. Eng. Con. & Exp., Nov.,

Tampa, Florida, USA, Oct., 2017

[C10] Preliminary Design of Data Collection Device in Underwater, M. Jeong, S. Kim, D. Kim, S. Moon, H. Ryu, and H. Yi, KSME
Conference (Daegu/Gyeongbuk Branch), 2017

[C9] Hardware of Dynamically Walking Biped Robot with Leg-Wheel Combined Structure, In Hwan Kim, Sang Ryong Lee, and Hak Yi,

Mariehamn, Finland (near Stockholm) Finland, June 2017.

[C8] Development of RTOS Monitoring System for Diagnosis of Urinary tract stone, S. W. Kim, H. Yi, T. M. Park, S. H. Ryu, S. R. Lee,

Korean Society for Precision Engineering 2017 Conference, Jeju, South Korea, May. 2017

[C7] Investigation on Kinematics Model of Upper Limb Rehabilitation for Shoulder Protraction & Retraction, J. H. Kong, T. M. Park, S.

W. Kim, Korean Society for Precision Engineering 2017 Conference, Jeju, South Korea, May. 2017

[C6] Comparison and Analysis via Surface Property of Die-casting Steel, S. W. Kim, H. Yi, T. M. Park, J. H. Choi, S. R. Lee, Korean

Society for Precision Engineering 2017 Conference, Jeju, South Korea, May. 2017

2016

[C5] Early Design of Bipedal Robot Ankle with Parallel Actuation, H. Yi, KSME Conference (Daegu/Gyeongbuk Branch), 2016

[C4] Minimizing the energy loss of the bi-articular actuation in bipedal robots, D. Lahr, H. Yi, D.W. Hong, ASME 2015 IDETC/CIE

[C3] Design and Analysis of an Innovative Modular Extendable Manipulator, H. Yi, R. Langari, ASME 2014 IDETC/CIE, Buffalo, USA

[C2] Dynamic analysis and sliding mode control of a novel extendable modular multi-DOFs link, H. Yi, J. Yoo, R. Langari, ASME 2012 IDETC/CIE, Houston, USA

[C1] A Tension Control System for a Filament Winding Process, S.H. Lee, H. Yi, and C.Y. Oh, Proc. of the Int. Conf. on Korean Carbon Society, 2006.

Book Chapter

[B2] S.J. Yi, S. McGill, H. Jeong, J. Huh, M. Missura, H. Yi, M. Ahn, S. Cho, K. Liu, D. Hong, D. D. Lee, RoboCup 2015 Humanoid

AdultSize League Winner, Lecture Notes in Artificial Intelligence (LNAI) series, 9513, pp.132-143.

[B1] S.J. Yi, S. McGill, Q. He, L. Vadakedathu, H. Yi, S. Cho, D.W. Hong, and D.D. Lee, RoboCup 2014 Humanoid AdultSize League

Winner, Lecture Notes in Artificial Intelligence (LNAI) series 8992, pp.94-105.