Robotics and Rehabilitation Engineering Lab (R2EL)

로봇 및 재활공학 연구실

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로봇 및 재활공학 연구실

R2EL aims to research and develop medical/rehabilitation/diagnostic robotic and mechatronic systems that can be used in real clinics. With this aim, currently, we are studying on various robotics and rehabilitation engineering areas including robust nonlinear controllers/ observers, real-time biofeedback systems, and upper/lower-limb multi-joint/DOF diagnostic and measurement devices and methods.

Major research field

Rehab. Robotic/Mechatronic Tools, Biomechanics, Human Limb Impedance Estimation, Assistive/Healthcare robotics, Robust robot control

Desired field of research

Research Keywords and Topics

• Reliable biomechanical analysis and diagnosis (including the estimation of upper/lower limb mechanical impedance) using medical/rehabilitation robot systems
• Development of rehabilitation training using medical/rehabilitation robot systems
• Robot systems and robust control methods (Internal Model Control, Time-Delay Control,
robust impedance control)

Research Publications
MORE

• IEEE Trans. Neural Syst. Rehabil. Eng / Real-Time Three-Dimensional Knee Moment Estimation in Knee Osteoarthritis: Toward Biodynamic Knee Osteoarthritis Evaluation and Training / Sang Hoon Kang, S. J. Lee, J. Press, L.-Q. Zhang* / 2019-06
• IEEE/ASME Trans. Mechatronics / Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control / M. Jin, Sang Hoon Kang* , P. H. Chang, and J. Lee. / 2017-10
• IEEE Trans. Neural Syst. Rehabil. Eng. / In Vivo Estimation of Human Forearm and Wrist Dynamic Properties. / K. Park, P. H. Chang, and Sang Hoon Kang* / 2017-05 (Featured Article)

Patents

• [국내] 임피던스 추정 로봇의 상하 구동장치 및 이를 구비하는 임피던스 추정 로봇 구동 시스템 / Sang Hoon Kang, H. Kang, H. J. Kim / 2020
• [국내] 상지 다관절 임피던스 측정 방법 및 그 장치 (upper limb multi-joint impedance measurement method and apparatus thereof) / Sang Hoon Kang, S. S. Kim, H. Kang2019
• [국외] Spring array device for verifying reliability and accuracy of mechanical impedance estimating robot and connecting structure therebetween / Sang Hoon Kang, H. Kang / 2020

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