Joonbum Bae
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View article: A Three‐Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems
A Three‐Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems Open
Various studies have explored mechanical impedance control strategies in soft actuators to enhance stability and precision, as the nonlinear characteristics of soft materials frequently lead to unwanted oscillations. Among these approaches…
View article: A 3-Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems
A 3-Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems Open
Various studies have explored mechanical impedance control strategies in soft actuators to enhance stability and precision, as the nonlinear characteristics of soft materials frequently lead to unwanted oscillations. Among these approaches…
View article: ANN-UKF-Based Estimator for Landing Forces in Quadruped Robots
ANN-UKF-Based Estimator for Landing Forces in Quadruped Robots Open
Estimation of landing forces is essential for legged robots to execute precise and effective movements, particularly when navigating complex and unfamiliar terrains. Traditionally, this estimation is achieved using force sensors mounted on…
View article: Soft Finger Grasp Force and Contact State Estimation from Tactile Sensors
Soft Finger Grasp Force and Contact State Estimation from Tactile Sensors Open
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide g…
View article: Analysis and Perspectives on the ANA Avatar XPRIZE Competition
Analysis and Perspectives on the ANA Avatar XPRIZE Competition Open
The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though physically present. The competition featured a unique require…
View article: Soft finger rotational stability for precision grasps
Soft finger rotational stability for precision grasps Open
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving f…
View article: A soft, self-sensing tensile valve for perceptive soft robots
A soft, self-sensing tensile valve for perceptive soft robots Open
Soft inflatable robots are a promising paradigm for applications that benefit from their inherent safety and adaptability. However, for perception, complex connections of rigid electronics both in hardware and software remain the mainstay.…
View article: Development of a Stiffness‐Adjustable Articulated Paddle and its Application to a Swimming Robot
Development of a Stiffness‐Adjustable Articulated Paddle and its Application to a Swimming Robot Open
Stiffness of a swimming appendage is the key mediator between thrust generated and its beating frequency. Due to the advantageous role of flexible propulsors, they are widely adopted in previous swimming robots. As an optimal propulsor, st…
View article: A Novel Iterative Second-Order Neural-Network Learning Control Approach for Robotic Manipulators
A Novel Iterative Second-Order Neural-Network Learning Control Approach for Robotic Manipulators Open
Iterative Learning Control (ILC) is known as a high-accuracy control strategy for repetitive control missions of mechatronic systems. However, applying such learning controllers for robotic manipulators to result in excellent control perfo…
View article: Impact Intensity Estimation of a Quadruped Robot without Using a Force Sensor
Impact Intensity Estimation of a Quadruped Robot without Using a Force Sensor Open
Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this t…
View article: A Liquid Metal Based Multimodal Sensor and Haptic Feedback Device for Thermal and Tactile Sensation Generation in Virtual Reality (Adv. Funct. Mater. 39/2021)
A Liquid Metal Based Multimodal Sensor and Haptic Feedback Device for Thermal and Tactile Sensation Generation in Virtual Reality (Adv. Funct. Mater. 39/2021) Open
Haptic Feedback Devices In article number 2007772, Seung Hwan Ko, Joonbum Bae, and co-workers develop multimodal sensing and feedback glove, which can measure finger movements and provide vibro-haptic and thermo-haptic feedback simultaneou…
View article: A Hybrid Jamming Structure Combining Granules and a Chain Structure for Robotic Applications
A Hybrid Jamming Structure Combining Granules and a Chain Structure for Robotic Applications Open
To allow versatile manipulation of soft robots made of compliant materials with limited force transmission, variable stiffness has been actively developed, which has become one of the most important factors in soft robotics. Variable stiff…
View article: Self-Learning Low-Level Controllers
Self-Learning Low-Level Controllers Open
Humanoid robots are complicated systems both in hardware and software designs. Furthermore, the robots normally work in unstructured environments at which unpredictable disturbances could degrade control performances of whole systems. As a…
View article: Review of machine learning methods in soft robotics
Review of machine learning methods in soft robotics Open
Soft robots have been extensively researched due to their flexible, deformable, and adaptive characteristics. However, compared to rigid robots, soft robots have issues in modeling, calibration, and control in that the innate characteristi…
View article: A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators
A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators Open
An adaptive robust controller is introduced for high-precision tracking control problems of robotic manipulators with output constraints. A nonlinear function is employed to transform the constrained control objective to new free variables…
View article: A Sensorized Hybrid Gripper to Evaluate a Grasping Quality Based on a Largest Minimum Wrench
A Sensorized Hybrid Gripper to Evaluate a Grasping Quality Based on a Largest Minimum Wrench Open
Soft pneumatic grippers, which are based on soft pneumatic actuators have been widely studied owing to their simple morphological structure, inherent compliance, and pliable grasp. Additionally, the integration of the soft gripper with var…
View article: A Three-dimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process
A Three-dimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process Open
Various wearable systems have been investigated to measure hand motion, but some challenges remain. Many systems require a calibration process to map sensor signals to actual finger joint angles by the principle of measuring the length cha…
View article: A Nonlinear Sliding Mode Controller of Serial Robot Manipulators With Two-Level Gain-Learning Ability
A Nonlinear Sliding Mode Controller of Serial Robot Manipulators With Two-Level Gain-Learning Ability Open
This article presents a learning robust controller for high-quality position tracking control of robot manipulators. A basic time-delay estimator is adopted to effectively approximate the system dynamics. A low-level control layer is struc…
View article: Deep Learning Based Real-Time Recognition of Dynamic Finger Gestures Using a Data Glove
Deep Learning Based Real-Time Recognition of Dynamic Finger Gestures Using a Data Glove Open
In this article, a real-time dynamic finger gesture recognition using a soft sensor embedded data glove is presented, which measures the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joint angles of five fingers. In the gest…
View article: A portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers
A portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers Open
In this paper, we developed a portable and spring-guided hand exoskeleton system for exercising flexion/extension of the fingers. The exoskeleton was designed with a simple structure to aid finger motion with one degree of freedom (DOF). T…
View article: A Tele-Operated Display With a Predictive Display Algorithm
A Tele-Operated Display With a Predictive Display Algorithm Open
Tele-operated display systems with head mounted displays (HMD) are becoming popular as visual feedback systems for tele-operation systems. However, the users are suffered from time-varying bidirectional delays caused by the latency and lim…