MARCH - Laboratory for Medical Assistant Robotics and Cognitive Haptics at Korea Institute of Science and Technology







Publication




  1. Journals


  2. A Control Scheme to Minimize Muscle Energy for Power Assistant Robotic Systems under Unknown External Perturbation Jaemin Lee, Minkyu Kim, and Keehoon Kim IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. PP, no. 99, pp. 1-1, July 2017
    Flexible piezoelectric energy harvesting from mouse click motions Youngsu Cha, Jin Hong, Jaemin Lee, Jungmin Park, Keehoon Kim Sensors, vol 16, No. 7, 2016.
    The Association of Postural Sensory Deficit with Freezing of Gait in Parkinson's Disease Young Eun Huh, Seonhong Hwang, Keehoon Kim, Won-Ho Chung, Jinyoung Youn, Jin Whan Cho Parkinsonism & Related Disorders, Vol. 25, pp. 72-77, April 2016
    Reinnervated Split-muscle Technique for Creating Additional Myoelectric Sites in Animal Model Maria Florencia Deslivia, Hyun-joo Lee, Rizki Fajar Zulkamain, Zhu Bin, Arnold Adikrishna, In-ho Jeon, Keehoon Kim Plastic and Reconstructive Surgery, Vol.138, No.6, pp.997-1010, December, 2016.
    Haptic Feedback Enhances Grip Force Control of sEMG-Controlled Prosthetic Hands in Targeted Reinnervation Amputees Keehoon Kim, J. Edward Colgate IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 20, no. 6, pp. 798-805, 2012.
    Robotic Touch Shifts Perception of Embodiment to a Prosthesis in Targeted Reinnervation Amputees Paul D. Marasco, Keehoon Kim, J. Edward Colgate, Michael A. Peshkin, Todd A. Kuiken Brain, vol. 134, no. 3, pp. 747-758, 2011.
    On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics Keehoon Kim, J. Edward Colgate and Julio J. Santos-Munne and Alex Makhlin and Michael A. Peshkin IEEE Transactions on Mechatronics, vol. 15, no. 1, pp. 27-39, 2010.
    Description of Instantaneous Restriction Space of Multi-DOF Bialteral Teleoperation Systems Using Position Sensors Keehoon Kim, Wan Kyun Chung, M. Cenk Cavusoglu IEEE Transactions on Robotics, vol. 25, no. 5, pp. 1150-1158, 2009.
    Cooperative robotic assistant with drill-by-wire end-effector for spinal fusion surgery Jongwon Lee, Inwook Hwang, Keehoon Kim, Seungmoon Choi, Wan Kyung Chung, and Young Soo Kim Industrial Robot: An International Journal, vol. 36, no. 1, pp. 60-72, January 2009.
    Quantitative Comparison of Bilateral Teleoperation Systems Using mu-Synthesis Keehoon Kim, M. Cenk Cavusoglu, and Wan Kyun Chung IEEE Transactions on Robotics, vol. 23, no. 4, pp. 776-789, August 2007.
    Accurate Force Reflection Method for Multi-DOF Haptic Interface Using Instantaneous Restriction Space without Force Sensor at Unstructured Environment Keehoon Kim and Wan Kyun Chung Advanced Robotics, vol. 21, no. 1, pp. 87-104, 2007.

  1. Under Review

  2. Seongsik Park, Wan Kyun Chung, and Keehoon Kim, “Unsupervised and Self-Adaptive Gesture Recognition Algorithm to Overcome Transient States and Time-Varying Features of sEMG,” IEEE Transactions on Biomedical Engineering (Under Review).
    Seongsik Park, Woongyong Lee, Wan Kyun Chung, and Keehoon Kim, “An Impedance Controlled Robot: Programming by Demonstration using sEMG,” IEEE Transactions on Industrial Informatics (Under Review).
    Man Bok Hong, Sin Jung Kim, and Keehoon Kim, “KULEX-Wrist: A Novel Parallel-Type Exoskeleton Mechanism for Wrist Power Assistance,” IEEE-ASME transactions on Mechatronics (Under Review).
    Man Bok Hong, Sin Jung Kim, and Keehoon Kim, “KULEX-Hand: An Underactuated Wearable Hand for Grasping Power Assistance,” IEEE transactions on Robotics (Under Review).
    Seonhong Hwang, Minkyu Kim, Keehoon Kim, “Effects of Short-time Intensive Training for Selected Motions on Consistency and Distinguishability of Surface Electromyogram Patterns”, IEEE transactions on Neural Systems and Rehabilitation Engineering. (Under Review).
  1. Conference Proceedings

  2. 64-channel double-layered sieve electrode with increased porosity for improved axon regeneration and high spatial resolution Jinwoo Jeong, Woohyun Jung, Ockchul Kim, Jun-Uk Chu, Inchan Youn, Keehoon Kim, Sang Rok Oh, Jong Woong Park, Jinseok Kim IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1148 - 1153, Singapore, June 26-29, 2016.
    A preliminary study on the method for stable and reliable implantation of neural interfaces into peripheral nervous system Donghyun Hwang, Yong Seok Ihn, Seonhong Hwang, Sang-Rok Oh, Keehoon Kim IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 561 - 566, Singapore, June 26-29, 2016.
    Enhancement of sEMG-Based Gesture Classification Using Mahalanobis Distance Metric MinKyu Kim, Jaemin Lee, Keehoon Kim 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1117 - 1122, Singapore, June 26-29, 2016.
    A Feasibility Test of Underactuated Robotic Prosthetic Fingers Actuated by Shape Memory Alloy Jaemin Lee, Donghyun Hwang, Minkyu Kim, Keehoon Kim 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 554 - 560, Singapore, June 26-29, 2016.
    Tele-operation system with reliable grasping force estimation to compensate for the time-varying sEMG feature MinKyu Kim; Jaemin Lee; Keehoon Kim 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5561 - 5567, Stockholm, Sweden, May 16-21, 2016.
    A Robust Control Method of Multi-DOF Power-Assistant Robot for Unknown External Perturbation using sEMG Signals Jaemin Lee, Minkyu Kim and Keehoon Kim IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), September 28-October 2, 2015, Hamburg, Germany.
    A Control Method for a Power-Assisted Robot for Upper Limbs considering Intention-basd Motion Using sEMG Signal Jaemin Lee, Minkyu Kim, Hyunkyu Ko and Keehoon Kim Conference on Ubiquitous Robots and Ambient Intelligence(URAI), pp.579-584, Kuala Lumpur, Malaysia, Nov.12-15, 2014.
    A preliminary analysis of window size and voting size with a time delay for a robust real-time sEMG pattern recognition MinKyu Kim, JaeMin Lee, Hyungyu Ko and Keehoon Kim Conference on Ubiquitous Robots and Ambient Intelligence(URAI), Kuala Lumpur, Malaysia, Nov.12-15, 2014.
    Integrated Control Method for Power-Assisted Rehabilitation: Ellipsoid Regression and Impedance Control Jaemin Lee, Minkyu Kim, Sang-Rok Oh, Keehoon Kim IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 14-18, 2014. Chicago, IL, USA.
    The use of degenerate mode shapes in piezoelectric variable-friction tactile displays Kwon Joong Son and Keehoon Kim The 12th International Conference on Motion and Vibration (MOVIC), August 3-7, Sapporo, Japan, 2014.
    Implementation of Real-Time Motion and Force Capturing System for Tele-manipulation based on sEMG Signals and IMU Motion Data MinKyu Kim, Kwanghyun Ryu, Yonghwan Oh, Sang-Rok Oh, and Keehoon Kim 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 2014
    Pilot Study on Prediction of Human Hand Configuration Using Transient State of Surface-Electromyography Signals Min Kyu Kim, Keehoon Kim 13th International Conference on Control, Automation and Systems (ICCAS 2013), 2013
    Increasing performance of a pattern recognition system using a sEMG signal by setting multi-reference Min Kyu Kim, Keehoon Kim International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, 2013
    KULEX: ADL Power Assistant Robotic System for the Elderly and the Disabled (Abstract for VIDEO) Man Bok Hong, Sin Jung Kim, Keehoon Kim International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, 2013
    KULEX: An ADL Power-Assistance Demonstration Man Bok Hong, Sin Jung Kim, Keehoon Kim International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, 2013
    Analytical Modeling of Disk-Type Piezoelectric Variable Friction Tactile Displays Kwon Joong Son, Minkyu Kim and Keehoon Kim IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 9, 2013
    Development of a 10-DOF Robotic System for Upper-Limb Power Assistance Man Bok Hong, SinJungKim, and KeehoonKim 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Daejeon, 2013.
    Development of a Wearable and Dry sEMG Electrode System for Decoding of Human Hand Configurations Hanjin LEE, Keehoon Kim, Sang Rok Oh IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 746-750, Oct. 7-12, Vilamoura, Portugal, 2012.
    On the Comfortableness of Muscle Power Assistive Robotic System Jiyeon Kang, Keehoon Kim, Sin Jung Kim, Sang Rok Oh IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 24-27, 2012.
    Verification of A Fast Training Algorithm for Multi-channel sEMG Classification Systems to Decode Human Configuration HanJin LEE, Keehoon Kim,Myoung Soo Park, Jong Hyeon Park and Sang-Rok Oh IEEE International Conferenceon Robotics and Automation (ICRA), May 14-18, 2012.
    Online Remote Control of a Robotic Hand Configurations using sEMG Signalson a Forearm HanJin LEE, Sin-Jung Kim,Keehoon Kim, Myoung Soo Park, Sung-Kyun Kim, Jong Hyeon Park and Sang-Rok Oh, IEEE InternationalConference on Robotics and Biomimetics (ROBIO), pp. 2243-2244, Dec 8-10 2011.
    A Fast Classification System for Decoding of Human Hand Configurations Using Multi-Channel sEMG Signals Myoung Soo Park, Keehoon Kim, Sang-Rok Oh International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, Sep. 25-30, 2011.
    3-D Reconstruction Using a Touch Sensor for Mouse Stereotactic Surgery in Unstructured Environment BEST PAPER AWARD Sin-Jung Kim, Keehoon Kim, Sungon Lee, Bum-Jae You, Sang-Rok Oh The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Busan, Korea, Nov. 24-27, 2010.
    Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleopeartion Systems in Unstructured Environment Keehoon Kim, Wan Kyun Chung, M. Cenk Cavusoglu IEEE International Conference on Robotics and Automation (ICRA), Alaska, USA, May 3-8, 2010.
    Development of Human Guided Surgical Robot System for Spinal Fusion, CMSS-I Jongwon Lee, Keehoon Kim, Wan Kyun Chung, Seungmoon Choi, Young Soo Kim, International Conference on Robotics and Automation (ICRA), California, USA, May 19-23, 2008.
    Human-guided surgical robot system for spinal fusion surgery: CoRASS Jongwon Lee, Keehoon Kim, Wan Kyun Chung, Seungmoon Choi, Young Soo Kim IEEE International Conference on Robotics and Automation (ICRA), Pasadena, USA, May 19-23, 2008.
    On the Design of a Thermal Display for Upper Extremity Prosthetics keehoon Kim, J. Edward Colgate, Michael A. Peshkin 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (Haptics Symposium), Reno, Nevada, USA, Mar. 13-14, 2008.
    A Pilot Study of a Thermal Display Using a Miniature Tactor for Upper Extremity Prosthesis Keehoon Kim, J. Edward Colgate, Michael Peshkin Special Sessions on Haptics, Frontiers in the Convergence of Bioscience and Information Technologies (FBIT), Jeju, Korea, Oct. 11-13, 2007.
    A Miniature Tactor Design for Upper Extremity Prosthesis Keehoon Kim, J. Edward Colgate, Michael Peshkin, Julio Santos-Munne, Alex Makhlin Special Sessions on Haptics, Frontiers in the Convergence of Bioscience and Information Technologies (FBIT), Jeju, Korea, Oct. 11-13, 2007.
    A Noble Bilateral Teleoperation System for Human Guided Spinal Fusion Keehoon Kim, Jongwon Lee, Wan Kyun Chung, Seungmoon Choi, and Young Soo Kim IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, Apr. 10-14, 2007.
    A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using mu-Synthesis Keehoon Kim, M. Cenk Cavusoglu, W.K. Chung IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, Apr. 10-14, 2007.
    Quantitative Comparison of Bilateral Teleoperation Systems with Various Drive Mechanisms and Sensory Configurations Keehoon Kim, M. Cenk Cavusoglu, W.K. Chung SICE-ICCAS, Busan, Korea, Oct. 18-21, 2006.
    Development of a Bilateral Teleoperation System for Human Guided Spine Bone Fusion Surgery : BiTESS II Jongwon Lee, Keehoon Kim, Wan Kyun Chung, and Young Soo Kim World Congress on Medical Physics and Biomedical Engineering, Seoul, Korea, Aug. 27-Sep. 1, 2006.
    Accurate Force Reflection for Kinematically Dissimilar Bilateral Teleoperation Systems Using Instantaneous Restriction Space Keehoon Kim and Wan Kyun Chung IEEE International Conference on Robotics and Automation (ICRA), Orlando, USA, May 15-19, 2006.
    Accurate Multi-DOF Kinesthetic Haptic Display Using Instantaneous Restriction Space Keehoon Kim, Wan Kyun Chung, Youngil Youm IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, Aug.3-5, 2005.
    Quantitative Comparison of Bilateral Teleoperation Systems Using H-Infinity Framework Keehoon Kim, M. Cenk Cavusoglu, Wan Kyun Chung IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, Sep. 28-Oct.2, 2004.
    Design and Analysis of a New 7-DOF Parallel Type Haptic Device : PATHOS-II Keehoon Kim, Wan Kyun Chung 20th International Symposium on Automation & Robotics in Construction (ISARC), Eindhoven, Netherland, Sep. 21-25, 2003.
    Design and Analysis of a New 7-DOF Parallel Type Haptic Device PATHOS-II Keehoon Kim, W.K. Chung IROS, Ballys Las Vegas Hotel, October 27-31, 2003.
    Human Kinematic Factor for Haptic Manipulation : The Wrist to Thumb Keehoon Kim, Y. Youm, W.K. Chung 10th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (Haptics Symposium), 319-326, Mar. 24-25, 2002.
    On the Design Method of Haptic Interface Controller with Virtual Coupling Keehoon Kim, W.K. Chung, and Y. Youm Proc. of ICCAS 2001, 71-74, Oct., 2001.
    Human Factor for Kinematic Design of a Haptic Device Keehoon Kim, Doik Kim, Wankyun Chung, and Youngil Youm Proc. of the 32nd International Symposium on Robotics, 135-140, April 19-21, 2001.
  1. Thesis


  2. High Resolution 3-D Geometric Reconstruction Method for Robotic Stereotactic Neurosurgery 로봇 뇌정위 수술을 위한 고분해능 3차원 기하구조 복원법 Sinjung Kim Thesis of Master Degree, 2011, 61 pages Advisor : Keehoon Kim


  1. In Korean


  2. 1. 파지보조로봇의 손가락 결합부를 위한 설계 고려사항 엄태웅, 홍만복, 김기훈 제 8회 한국로봇공학회 하계종합 학술대회 논문집, 2013. 2. 팔꿈치-손목 근력 보조 로봇 시스템 개발의 교훈 강지연, 김신정, 홍만복, 김기훈 제 7회 한국로봇공학회 하계종합 학술대회 논문집, 2012. 3. 상지 장애 환자를 위한 생체신호 기반 의도분석과 감각전달 기술 동향 김기훈 전자공학회지, Vol. 38, No. 11, Nov., 2011 4. 노약자/장애인을 위한 상지 근력 보조 시스템 김신정, 강지연, 김기훈, 유범재, 오상록 6회 한국로봇공학회 하계종합 학술대회 논문집, 2011.


  1. Patents


  2. 1. APPARATUS FOR SUPPORTING A MUSCULAR STRENGTH OF ARM 상지 근력 보조 장치 (Patent No. 10-1280364 KR) 2. EXOSKELETON MECHANISM FOR LIMB POWER ASSISTANCE 근력보조를 위한 외골격장치 (Patent No. 1295004 KR, Application No.13/617985 US) 3. Wearable Electromyogram Sensor System 착용형 근전도 센서 시스템 (Application No. 2013-0065679 KR, Application No. 14/088,859, US) 4. TACTILE DISPLAY AND ITS CONTROL METHOD USING SQUEEZE FILM EFFECT 스퀴즈막 효과를 이용한 촉감 디스플레이를 구비한 전자 장치 (Application No. 2012-0058209 KR, 13/768292 US) 5. SPHERICAL TRANSMISSION JOINT 경사 축의 회전동력전달을 위한 구형 조인트 (Application No. 2011-0108732 KR, 13/493,178 US) 6. EXOSKELETON MECHANISM FOR LIMB POWER ASSISTANCE 근력보조를 위한 외골격장치 (Application No. 2011-0101430 KR, 13/617985 US) 7. HIGH PRECISION ELECTRODE PLACEMENT DEVICE FOR SMALL ANIMAL STEREOTACTIC SURGERY (Application No. 2011-0096828 KR) 8. ELECTRODE PLACEMENT DEVICE FOR STEREOTACTIC SURGERY 뇌정위 수술을 위한 전극 삽입장치 (Patent No. 10-1205891 KR, Application No. 13/617580 US) 9. APPARATUS FOR SUPPORTING A MUSCULAR STRENGTH OF ARM 상지 근력 보조 장치 (Application No. 2011-0096113 KR) 10. MATERIAL SCREENING APPARATUS (Application No. PCT/KR2010/004917, 2013-7001602 KR, 13/812290 US) 11. RESTRICTION SPACE CALCULATION METHOD USING POSITION SENSORS OF MULTI DEGREES-OF -FREEDOM MANIPULATOR 다관절 매니퓰레이터의 위치센서를 이용한 제한 공간 산출 방법 (Patent No. 10-1145243, KR) 12. APPARATUS FOR IDENTIFYING MATERIALS (Application No. PCT/KR2010/004917) 13. DETECTOR AND STIMULATOR FOR FEEDBACK IN A PROSTHESIS (Application No. 11/677564, US) 14. HAPTIC INTERFACE APPARATUS FOR FORCE REFLECTED OXYGEN LANCE MANIPULATION IN ELECTRIC FURNACE 힘 반영 전기로 산소 취입기 조작을 위한 햅틱 인터페이스장치 (Patent No. 10-0823095, KR) 15. END-EFFECTOR FOR BONE FUSION SURGERY OPERATION SYSTEM 뼈 융합 수술 시스템을 위한 엔드 이펙터 (Patent No. 10-0705998, KR)