Wansoo Kim

Wansoo Kim
Hanyang University · Department of Robotics

Ph.D.

About

65
Publications
21,632
Reads
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1,075
Citations
Additional affiliations
March 2021 - present
Hanyang university ERICA
Position
  • Professor (Assistant)
May 2016 - February 2021
Istituto Italiano di Tecnologia
Position
  • PostDoc Position
February 2008 - April 2016
Hanyang University
Position
  • PhD
Education
March 2008 - February 2015
Hanyang University
Field of study
  • Mechanical Engineering

Publications

Publications (65)
Article
This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely available or easily producible offline videos. To achieve this goal, we decode important dynamic information,...
Preprint
Full-text available
Balance and gait disorders are the second leading cause of falls, which, along with consequent injuries, are reported as major public health problems all over the world. For patients who do not require mechanical support, vibrotactile feedback interfaces have proven to be a successful approach in restoring balance. Most of the existing strategies a...
Preprint
Full-text available
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we aim to create a lightweight and intuitive interface, capable of guiding its wearers towards more ergonomic and...
Preprint
This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely available or easily producible offline videos. To achieve this goal, we decode important dynamic information,...
Article
Work-related musculoskeletal disorders (WMSDs) remain one of the major occupational safety and health problems in the European Union nowadays. Thus, continuous tracking of workers’ exposure to the factors that may contribute to their develop- ment is paramount. This article introduces an online approach to monitor kinematic and dynamic quantities o...
Preprint
Work-related musculoskeletal disorders (WMSDs) remain one of the major occupational safety and health problems in the European Union nowadays. Thus, continuous tracking of workers' exposure to the factors that may contribute to their development is paramount. This paper introduces an online approach to monitor kinematic and dynamic quantities on th...
Article
Full-text available
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we aim to create a lightweight and intuitive interface, capable of guiding its wearers towards more ergonomic and...
Article
The use of powerful robotics tools in modeling and analysis of complex biomechanical systems has led to the development of computationally effective and scalable human models. Our early work in this regard focused on a humanoids- based rigid-body modeling of human kinodynamics to monitor instantaneous and accumulating effects of external loads on b...
Article
In this work, we present a novel control approach to human-robot collaboration that takes into account ergonomic aspects of the human co-worker during power tool operations. The method is primarily based on estimating and reducing the overloading torques in the human joints that are induced by the manipulated external load. The human overloading jo...
Article
Full-text available
This work presents a unified approach for hybrid motion control of the MObile Collaborative Robotic Assistant (MOCA). The objective is to develop a loco-manipulation controller, enabling various couplings of the arm and the mobile base movements, and particularly their purely decoupled motions. The proposed method is based on a weighted whole-body...
Conference Paper
Full-text available
In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by non-experts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an individual to guide the robot end-effector in the works...
Article
Full-text available
In this work, we propose an intuitive and real-time model of the human arm active endpoint stiffness. In our model, the symmetric and positive-definite stiffness matrix is constructed through the eigendecomposition Kc=VDVT, where V is an orthonormal matrix whose columns are the normalized eigenvectors of Kc, and D is a diagonal matrix whose entries...
Article
Full-text available
In this work, we propose an online method to detect and approximately locate an external load induced on the body of a person interacting with the environment. The method is based on a torque equilibrium condition on the human sagittal plane, which takes into account a reduced-complexity model of the whole-body centre of pressure (CoP) along with t...
Conference Paper
The objective of this paper is to create a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of a MObile Collaborative robot Assistant (MOCA), we create a collaborative robot that can function autonomously, in close proximity to humans, or be phy...
Conference Paper
Full-text available
In this paper, a novel human-robot collaborative framework for mixed case palletizing is presented. The framework addresses several challenges associated with the detection and localisation of boxes and pallets through visual perception algorithms, high-level optimisation of the collaborative effort through effective role-allocation principles, and...
Poster
Full-text available
Safety and health of human workers are always the most important factors in the design and evaluation of a human-involved production process. While safety is usually associated with physical injuries instantly caused by collisions or impacts between human workers and machinery, ergonomics or human factors are more concerned with chronic health risk...
Conference Paper
In this paper, we propose a control framework for a multi-human and mobile-robot collaborative team, that takes into account the co-workers' ergonomic requirements as well as the demand for high flexibility in the manufacturing industries. The new MObile Collaborative robotic Assistant (MOCA), which is composed of a lightweight manipulator arm, an...
Conference Paper
Full-text available
This paper presents a proof of concept for a syn-ergistic framework for human-robot coexistance and collaboration (HRC 2). By exploiting the loco-manipulation potential of our recently developed MObile Collaborative robotic Assistant (MOCA), we developed a novel framework that distinguishes and suitably reacts to coexisting and collaborative human...
Article
This paper proposed a bulldozer sensor system for estimating the blade cutting edge position, designed to help bulldozer operators guide the bulldozer blade cutting edge towards a precise position in leveling works. The proposed sensor system consists of two GNSSs, two IMUs, and a position estimation controller. Each sensor and position estimation...
Article
This paper presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at IIT, which is composed by a lightweight manipulator arm, a Pisa/IIT SoftHand, and a mobile platform driven by four Omni-directional wheels. A whole-body im...
Conference Paper
Among the numerous risk factors associated to work-related musculoskeletal disorders (WMSD), repetitive and monotonous movements with lightweight tools are one of the most frequently cited. Such tasks may indeed result in the excessive accumulation of local muscle fatigue, causing severe injuries in human joints. Accordingly, this paper proposes a...
Article
Full-text available
Musculoskeletal disorders, the single largest category of workrelated injuries in many industrial countries, are associated with very high costs in terms of lost productivity. In highvolume production facilities, large parts of the workstation should ideally be adapted to individual workers in real time to prevent such injuries. However, in smaller...
Chapter
This work presents an intuitive graphic interface to make its users aware of potentially risky body configurations while being exposed to external loads. Employing an algorithm we proposed in a recent work, we estimate the human joint torque overloading caused by an external force. This information is used as an input for the graphical interface to...
Article
Full-text available
In this work, we present a novel wearable feedback interface with the aim to improve human ergonomics in the execution of heavy or repetitive industrial tasks. The proposed interface incorporates a reduced-complexity and real-time model for the estimation of human joints' load variations, based on the estimated translational displacement of the cen...
Article
Full-text available
This letter proposes a novel technique for the real-time estimation of the human feet ground reaction forces (GRFs) and centers of pressure (CoP) from the whole-body CoP and body configuration. The estimated variables are used for the estimation of the overloading torques in human joints during double support, with the aim to provide an evaluation...
Conference Paper
Full-text available
In this paper, we propose a novel method for the control of human-robot co-manipulation that takes into account the ergonomic requirements for the human co-worker. The robot uses a whole-body dynamic model of the human to optimise for the position of the co-manipulation task in the workspace. In this configuration, the overloading joint torques, i....
Chapter
The Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50, which performs human synchronized gait motions to augment human power during load carrying, was designed and analyzed in this study. The HEXAR-CR50 was developed for industrial and military purposes to carry a payload of 20–30 kg while walking on level ground and climbing stairs. For the design...
Article
Full-text available
This paper proposes a novel human-robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of a human partner while executing shared tasks with a robot. Using a pre-identified statically equivalent serial chain (SESC) model, variations of the centre-of-pressure and ground reaction force are calculated, and...
Conference Paper
Full-text available
This paper proposes a novel technique for the real-time estimation of the joint torque variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculate...
Conference Paper
Full-text available
This paper proposes a novel technique for the real-time estimation of the joint torques variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculate...
Article
Full-text available
In this paper, we develop an insole sensor system that can determine various dynamic models of a lower extremity exoskeleton. The study analyzed the kinematic model of exoskeleton robot for lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF) that is generated when walking, the sensing t...
Article
Full-text available
This study proposed and developed an underactuated exoskeleton to support external load-carrying and partial assist for leg motion with level walking and ascending of slopes and stairs, which require positive energy generation. A strategy for active and passive joint combination are implemented on the underactuated exoskeleton, along with a quasi-p...
Article
Full-text available
This paper reports on the development of a roller-cam clutch mechanism. This mechanism can transfer bidirectional torque with high backdrivability, as well as increase actuation energy efficiency, in electrical exoskeleton robots. The developed mechanism was installed at the robot knee joint and unclutched during the swing phase which uses less met...
Article
Full-text available
This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground react...
Conference Paper
Full-text available
This study developed a lower extremity exoskeleton system to enhance lower body strength. In this paper, selected the degrees of freedom (DOF) which actuated based on analyzed human motion, and analyzed the human joint function to design the joint modules of the exoskeletal robot. To improve the efficiency of the exoskeleton robot, a mechanical str...
Conference Paper
Full-text available
Exoskeleton robot system is a mechanical structure that is attached to the exterior of a human body to improved the muscular power of the wearer ! Mechanism design, human intent measurement and cooperation control are the major consideration of the exoskeleton system ! Objectives ! Development of lower limb exoskeleton for military/industrial field...
Patent
A wearable robot for assisting muscular strength of the lower extremity of a user: The wearable robot can be worn on user's legs and includes a central securing part, a hip joint part hingably coupled to either side of a lower end of the central securing part, a femur part fastened to the hip joint part and having rigidity, a knee part including an...
Article
In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when th...
Article
Abstract Many researchers are currently studying and developing various kinds of human–robot systems, as this field requires more accurate and reliable sensing systems to detect the intention behind human motion. This study describes a muscle circumference sensor (MCRS) that was developed to measure the variation in the outline of a muscle as a hum...
Article
Full-text available
There has been much recent research interest in developing numerous kinds of human-machine interface. This field currently requires more accurate and reliable sensing systems to detect the intended human motion. Most conventional human-machine interface use electromyography (EMG) sensors to detect the intended motion. However, EMG sensors have a nu...
Conference Paper
Full-text available
This study developed an underactuated lower extremity exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular- type wearable system and its corresponding sensor systems are proposed. To operate the system with a user, human walking analysis and intention signal acquisition methods for actuating the propo...
Article
Full-text available
This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrat...
Article
A terrain sensing and classification technique for a legged-type field robot is one of the most important issues that can influence the robot's performance because the field conditions that can be encountered by the robot are extremely diverse. On a flat surface, for instance, the robot might walk normally but it would have trouble walking on irreg...
Article
The exoskeleton robot system is a brand new type of human-robot cooperation system. It fully combines human intelligence and robot power so that robot intelligence and human operator’s power are both enhanced. Therefore, it achieves a high-level performance that neither robots nor humans could achieve separately. This paper describes the basic exos...
Article
In this study, a muscle volume sensor was developed to estimate the human behavior for its application to bioengineering and synchronous signal collection. The sensor is easily manufactured at a low cost. In addition, its wearability is good, and it can measure the human motion intent using a simple algorithm. This study tested the developed sensor...
Article
This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interact...
Article
This study proposes an under-actuated wearable exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular-type wearable system and its corresponding sensor systems are proposed. The design process of the modular-type exoskeleton for lower extremities is presented based on the considered requirements. To ope...
Article
Full-text available
The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DM...
Article
Full-text available
This study is to estimate the joint torques without torque sensor using the EMG (Electromyogram) signal of agonist/antagonist muscle with Neural Network Back Propagation Algorithm during the elbow motion. Command Signal can be guessed by EMG signal. But it cannot calculate the joint torque. There are many kinds of field utilizing Back Propagation L...
Conference Paper
In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). The exoskeleton has 3 DOF at each side, and it is possible to determine the minimum energy consumption of the joint torques under level-ground wal...
Article
The will of humans with physical disabilities to move has found realization through the development of powered robotic exoskeleton. In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). To verify its...
Article
Terrain classification of the legged robot is one of the most important objects which can determine robot's performance because surface of the fields is often extremely diverse. In the flat surface case, robot can move fast and smoothly. However, it cannot move fast in the rough terrain. Unless robot knows which terrain, robot will be falling down...
Article
Full-text available
The sensor data measured by the legged robot are used to recognize the physical environment or information that controls the robot's posture. Therefore, a robot's ambulation can be advanced with the use of such sensing information. For the precise control of a robot, highly accurate sensor data are required, but most sensors are expensive and are e...