Soft Wearable Haptic-Robotic Interface 

Research Period

 2019.03~2025.02

Funding / Sponsor

 National Research Foundation of Korea (NRF, 한국연구재단)

 Contents

 This project is aimed to design various soft actuators and sensors, and finally design soft wearable haptic-robotic interfaces using the designed soft actuators and sensors.

 In this project, our team focused on developing soft actuators, sensors, and the wearable interfaces with our own researches. The soft sensors can measure pressure or deformation of the wearable interfaces with optic-based mechanism. Finally, our team developed a soft wearable robotic interfaces by using these actuators and sensors.

Development of Exploration Robot for Customs Inspection of Containerized Cargo 

Research Period

 2022.07~2024.12

Funding / Sponsor

 Korea Customs Service (대한민국 관세청)

 Contents

 This project aims to develop an exploration robot for cargo inspection to increase the efficiency of customs inspection of the 40ft container. The exploration robot can move through the space between the cargo and the container ceiling, and an endoscopic robot can penetrate through the cargo gap and move to the target cargo. This can make the inspection the suspicious cargo without unloading every cargo inside the container.  

 In this project, our team focus on developing a 3-DOF flexible robot system that can adapt its stiffness and move arbitrary 3D position.  

Wearable Haptic Suit Project

Research Period

2021​.06~2024.12 

Funding / Sponsor

Korea Creative Content Agency (KCCA, 한국콘텐츠진흥원)

 Contents

 This project aims to develop a barrier free technology for the creation and collaboration of choreography for dancers with auditory/visual impairment. To accomplish the project goal, a wearable sensing-haptic device is to be created that allows for an interaction among dancers and the audience.

 In this project, our team aims to fabricate a light-weight, compact, and powerful soft actuator, which can produce haptic feedback such as pressure, vibration, or skin stretch.

Hybrid Haptic Simulator for Rendering Car Door Opening and Closing 

Research Period

 2022.02~2024.11

Funding / Sponsor

 Hyundai Motor Company (현대자동차)

 Contents

 This project is aimed to develop a hybrid haptic simulator which can rendering the haptic feeling of car door opening and closing. This simulator can reduce the development cost for car designing process. 

 In the hybrid haptic system, a motor and brake are used at the same time, so, developing a new control method for better haptic sensation is important.

Development of Emotional Neck Massager using Soft Actuator 

Research Period

 2022.05~2023.04

Funding / Sponsor

 Hyundai Motor Company (현대자동차)

 Contents

 This project aim to develop a built-in soft neck massager that can provide an emotional massage to the drivers. Our approach is to develop a soft actuator-based massage module, which can provide pressing and vibration. Due to the compliance of the actuation module, the developed massager can provide a massage without any discomfort.

 In this project, our team focused on developing 1. pneumatic actuators which can provide a high displacement and a high force, 2. soft electrohydraulic actuators which can provide a high blocking force with entire compliance, and 3. seamless integration of pressing module and vibration module. 

Robot Safety Skin Project

Research Period

 2021.01~2022.12

Funding / Sponsor

 Korea Evaluation Institute of Industrial Technology (KEIT, 한국산업기술평가관리원)

 Contents

 The goal of this project is to develop a robot safety skin to detect a collision. A stretchable pressure sensor is designed by using a piezoresistive characteristics of functional materials. The developed sensor is applied to an industrial robot for a collision detection. 

 In this project, our team develop a stretchable pressure sensor based on a functional polymers. The sensor detects the collision in real time, and the sensor signal is used for an emergency robot control. 

Rehabilitation Suit Project

Research Period

 2019.03~2022.12

Funding / Sponsor

 National Rehabilitation Center (NRC, 국립재활원)

 Contents

 The target of this project is to develop a new soft wearable robot for muscle rehabilitation of the upper limb. Based on the previous researches of our group, we are going to develop a soft assistive rehabilitation robot using shape memory alloy actuator. 

 In this project, we focused on developing compact, light-weight soft wearable robotic system, which can assist the four joints of the upper limb including wrist, elbow, shoulder and forearm. The final goal of our project is developing the soft wearable suit that can assist all the motions in upper limb. 

Smart Haptic Controller Project

Research Period

 2020.04~2022.12

Funding / Sponsor

 Institute for Information & communication Technology Planning & evaluation (IITP, 정보통신기획평가원)

 Contents

 This project is aimed to design the morphable haptic controller for VR, AR contents. Previous controllers were limited to provide only vibrational sensation. To enhance reality, the controller is designed to provide various perception. 

 In this project, our team is aim to fabricate light-weight, compact actuator, which can produce both pressure and vibrational feedback. To achieve this goal, our team is developing the soft polymer actuator, which can produce large output force & displacement. 

Modular Robot Arm for Gastrointestinal Endoscopy Assistance

Research Period

 2020.07~2022.07

Funding / Sponsor

 Ministry of SMEs and Startups (중소벤처기업부)

 Contents

 This project aims to develop and commercialize robot arm which can improve surgical performance, especially ESD(Endoscopic Submucosal Dissection). Flexible, small and dexterous robot arm is designed to lift and hold tissues.

 In this project, we develop a 5-DOF flexible miniature robot arm, which has 3 mm outer diameter and can bend over 90 °. The developed robot arm can lift 3 N weight enough to perform ESD.

Running Suit Project

Research Period

 2019.06~2021.05

Funding / Sponsor

 Korea Evaluation Institute of Industrial Technology (KEIT, 한국산업기술평가관리원)

 Contents

 This project is aimed to design the wearable suit for running. To achieve this, fabric-like actuator, sensor, and batteries were presented. This project was supported by the Ministry of Trade, Industry and Energy, and collaborated with KIMM and SNU.

 In this project, our team fabricated the fabric-strain sensor which can monitor the motion. The proposed fabric sensor can be easily attached in any kind of clothes, such as shirts, pants, glove, and socks.

Hyundai Emotional Vibration Seat Project

Research Period

 2020.05~2021.04

Funding / Sponsor

 Hyundai Motor Company (현대자동차)

 Contents

 This project aim to develop a haptic interface that can provide an emotional feel as well as supporting information to the driver. Our approach is to develop soft actuator-based haptic interfaces, which are compliant, lightweight, and thin.

 In this project, we focused on developing high-performance soft actuators. To provide the driver sufficient haptic feedback, we developed soft actuators which can produce high output force and wide bandwidth.

ETRI Haptic Interface Project

Research Period

 2018.05~2020.11

Funding / Sponsor

 Electronics and Telecommunications Research Institute (ETRI, 한국전자통신연구원)

 Contents

 The goal of the project was to examine the influence of the haptic panel interface in driving situations. A haptic panel and an UI(User Interface) for the panel was developed and evaluated through driving simulations. This project was collaborated with ETRI.

 In this project, our team developed a graphical UI for the haptic panel. Through electrical stimulation, the haptic panel is able to create mechanical vibrations. Various haptic patterns were developed and their influence to the driving experience are evaluated through user tests. 

Soft Gripper Project

Research Period

 2018.07~2019.12

Funding / Sponsor

 Korea Evaluation Institute of Industrial Technology (KEIT, 한국산업기술평가관리원)

 Contents

 This project is aimed to design a universal gripper for an industrial application. For grasping various objects by using one gripper, electroadhesion pad, varable-stiffness elastomer, and multi-fingered robot hand was combined.

 In this project, our team designed a electroadhesion pad for a large area and integrated it with a multi-fingered robot hand. In addition, we designed an electroadhesion-based high-payload soft gripper with mechanically reinforced structure.

Tunable Lens Project 

Research Period

 2018.07 ~ 2019.12

Funding / Sponsor

 Korea Institute for Advancement of Technology (KIAT, 한국산업기술진흥원)

 Contents

 The target of this project is to develop the tunable focal-length lens for wearable application. Based on the previous study of our group, the regular training using the tunable focal-length system can enhance the eyesight.

 In this project, we focused on developing compact, light-weight tunable focal-length lens system, which can be used in wearable application. Our team developed the various light-weight, compact tunable focal-length lens using SMA spring and polymer actuator.