- Design and Development of

- Omegabot: Inchworm inspired

- Large deformable morphing

- Wearable robotic hand
- Hands on surgical robot:
   Shared control system
- Situation Understanding for
   Smart Devices

- Wireless Camera Sensor
   Networks Technology

- Mobile Sensor Networks:
   Algorithms and Applications
- Whole-Body Control Framework
    for Humanoid Robot

- Walking Pattern Generation for
   Humanoid Robot

- Robot Hand Control
- Quadruped Robot Control with
   Whole-Body Control Framework

- Human Gait Analysis using
   3D Motion Capture
- Coordination of multiple robots
- Flocking and consensus
- Vision-based guidance and

- Online collision avoidance for
   mobile robots

- Wireless sensor network
- Aerial Manipulation
- Haptics/VR
- Autonomous Mobility
- Telerobotics
- Mechanics/Control
- Industrial Control
- Mobile Manipulation
- Simultaneous Visual and
   Inertia Calibration

- Mechanics of Closed Chains
- Motion Optimization via
   Nonlinear Dimension

- Probabilistic Optimal Planning
   Algorithm for Minimum
   upstream Motions

- Automated Plug-In Recharging
   System for Hybrid Electric
Wearable robotic hand
It is important for a wearable robot to be compact and sufficiently light for use as an assistive device. Since human fingers are arranged in a row in dense space, the concept of traditional wearable robots using a rigid frame and a pin joint result in size and complexity problems. A structure without a conventional pin joint, called a jointless structure, has the potential to be used as a wearable robotic hand because the human skeleton and joint can replace the robot's conventional structure. Another way to reduce the weight of the system is to use under-actuation. Under-actuation enables adaptive grasping with less number of actuators for robotic hands. Differential mechanisms are widely used for multi-finger under-actuation; however, they require additional working space. We propose a design with a jointless structure and a novel under-actuation mechanism to reduce the size and weight of a hand exoskeleton.

For more information, visit the lab webpage., 02-880-7149