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Proceedings Papers

A High Performance Tracking Control Method Based on a Disturbance Observer With Parameter Adaptation

Dong Jin Hyun, Jungsu Choi, Kyoungchul Kong
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T31A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3814
https://doi.org/10.1115/DSCC2013-3814
View Paper titled, A High Performance Tracking Control Method Based on a Disturbance Observer With Parameter Adaptation
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Topics: Algorithms, Control algorithms, Dynamics (Mechanics), Electric motors, Filtration, Robustness, Signals, Stability, Tracking control, Uncertain systems
Proceedings Papers

Impedance Reduction Controller Design for Mechanical Systems

Hanseung Woo, Kyoungchul Kong
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T39A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3737
https://doi.org/10.1115/DSCC2013-3737
View Paper titled, Impedance Reduction Controller Design for Mechanical Systems
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Topics: Control equipment, Design, Mechanical impedance, Safety, Closed loop systems, Engineering simulation, Simulation, Stability
Journal Articles

A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes

Pyeong-Gook Jung, Sehoon Oh, Gukchan Lim, Kyoungchul Kong
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2014, 136(1): 011002.
Paper No: DS-12-1388
https://doi.org/10.1115/1.4025207
Published Online: August 30, 2013
View Article titled, A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes
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Topics: Sensors, Accelerometers, Signals, Kinematics
Journal Articles

Torque Mode Control of a Cable-Driven Actuating System by Sensor Fusion

Kyoungchul Kong, Joonbum Bae, Masayoshi Tomizuka
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2013, 135(3): 031003.
Paper No: DS-11-1371
https://doi.org/10.1115/1.4023064
Published Online: February 21, 2013
View Article titled, Torque Mode Control of a Cable-Driven Actuating System by Sensor Fusion
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Topics: Cables, Control equipment, Design, Friction, Motors, Sensors, Torque, Feedforward control, Engines
Journal Articles

A Robotic Biopsy Device for Capsule Endoscopy

Kyoungchul Kong, Sehyuk Yim, Sunhee Choi, Doyoung Jeon
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. September 2012, 6(3): 031004.
https://doi.org/10.1115/1.4007100
Published Online: July 30, 2012
View Article titled, A Robotic Biopsy Device for Capsule Endoscopy
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Topics: Biological tissues, Endoscopes, Springs, Robotics, Engineering prototypes
Journal Articles

Design of a Rehabilitation Device Based on a Mechanical Link System

Kyoungchul Kong, Masayoshi Tomizuka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2012, 4(3): 035001.
https://doi.org/10.1115/1.4006875
Published Online: June 8, 2012
View Article titled, Design of a Rehabilitation Device Based on a Mechanical Link System
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Topics: Design, Actuators, Wheels, Orthotics, Robots, Robotics, Hardware, Rehabilitation devices
Journal Articles

Gait Phase-Based Control for a Rotary Series Elastic Actuator Assisting the Knee Joint

Joonbum Bae, Kyoungchul Kong, Masayoshi Tomizuka
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. September 2011, 5(3): 031010.
https://doi.org/10.1115/1.4004793
Published Online: August 23, 2011
View Article titled, Gait Phase-Based Control for a Rotary Series Elastic Actuator Assisting the Knee Joint
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Topics: Actuators, Control equipment, Knee, Modeling, Motors, Sliding mode control, Torque, Errors, Boundary layers, Design
Journal Articles

A Mobile Gait Monitoring System for Abnormal Gait Diagnosis and Rehabilitation: A Pilot Study for Parkinson Disease Patients

Joonbum Bae, Kyoungchul Kong, Nancy Byl, Masayoshi Tomizuka
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research Papers
J Biomech Eng. April 2011, 133(4): 041005.
https://doi.org/10.1115/1.4003525
Published Online: March 8, 2011
View Article titled, A Mobile Gait Monitoring System for Abnormal Gait Diagnosis and Rehabilitation: A Pilot Study for Parkinson Disease Patients
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Topics: Diseases, Monitoring systems, Patient rehabilitation, Gait analysis, Feedback, Signals, Kinematics, Sensors
Proceedings Papers

A Cable-Driven Human Assistive System and Its Impedance Compensation by Sensor Fusion

Kyoungchul Kong, Joonbum Bae, Masayoshi Tomizuka
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 835-842, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4021
https://doi.org/10.1115/DSCC2010-4021
View Paper titled, A Cable-Driven Human Assistive System and Its Impedance Compensation by Sensor Fusion
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Topics: Cables, Sensors, Actuators, Friction, Accelerometers, Control algorithms, Design, End effectors, Engines, Inertia (Mechanics)
Proceedings Papers

Cable Friction Compensation and Rehabilitation Algorithms for a Cable-Driven Human Assistive System

Joonbum Bae, Kyoungchul Kong, Masayoshi Tomizuka
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 777-783, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4022
https://doi.org/10.1115/DSCC2010-4022
View Paper titled, Cable Friction Compensation and Rehabilitation Algorithms for a Cable-Driven Human Assistive System
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Topics: Algorithms, Cables, Friction, Torque, Actuators, Control equipment, End effectors, Tension
Proceedings Papers

Control of Electric Motor Systems Considering Input/Output Saturation

Kyoungchul Kong, Helge C. Kniep, Masayoshi Tomizuka
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 457-464, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2513
https://doi.org/10.1115/DSCC2009-2513
View Paper titled, Control of Electric Motor Systems Considering Input/Output Saturation
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Topics: Electric motors, Control equipment, Design, Motors, Ball bearings, Control systems, Friction, Gears, Kalman filters, Resonance
Proceedings Papers

Hybrid Adaptive Friction Compensation of Indirect Drive Trains

Wenjie Chen, Kyoungchul Kong, Masayoshi Tomizuka
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 313-320, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2736
https://doi.org/10.1115/DSCC2009-2736
View Paper titled, Hybrid Adaptive Friction Compensation of Indirect Drive Trains
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Topics: Friction, Trains, Engines, Motors, Stress, Torque, Control equipment, Design, End effectors, Trajectories (Physics)
Journal Articles

Output Saturation in Electric Motor Systems: Identification and Controller Design

Kyoungchul Kong, Helge C. Kniep, Masayoshi Tomizuka
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2010, 132(5): 051002.
https://doi.org/10.1115/1.4001792
Published Online: August 11, 2010
View Article titled, Output Saturation in Electric Motor Systems: Identification and Controller Design
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Topics: Control equipment, Design, Electric motors, Engines, Friction, Kalman filters, Motors, Gears, Servomechanisms
Proceedings Papers

Control of Exoskeletons Inspired by Fictitious Variable Gain in Human

Kyoungchul Kong, Masayoshi Tomizuka
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 123-130, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2116
https://doi.org/10.1115/DSCC2008-2116
View Paper titled, Control of Exoskeletons Inspired by Fictitious Variable Gain in Human
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Topics: Exoskeleton devices, Brain, Control equipment, Control algorithms, Dynamics (Mechanics), Muscle, Control systems, Design, Feedback, Motion control
Proceedings Papers

Real-Time Nonlinear Programming by Amplitude Modulation

Kyoungchul Kong, Kiyonori Inaba, Masayoshi Tomizuka
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 417-424, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2160
https://doi.org/10.1115/DSCC2008-2160
View Paper titled, Real-Time Nonlinear Programming by Amplitude Modulation
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Topics: Nonlinear programming, Design, Filters, Optimization, Control equipment, Engineering simulation, Simulation
Proceedings Papers

Design and Control of a New Tendon-Driven Exoskeletal Lower Body Power Assistive Device

Kyoungchul Kong, Doyoung Jeon
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 1483-1488, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-80800
https://doi.org/10.1115/IMECE2005-80800
View Paper titled, Design and Control of a New Tendon-Driven Exoskeletal Lower Body Power Assistive Device
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Topics: Design, Tendons, Weight (Mass), Electromyography, Exoskeleton devices, Fuzzy control, Robots, Sensors, Torque
Proceedings Papers

Design of a Biopsy Module for the Capsule Type Endoscope

Kyoungchul Kong, Doyoung Jeon
Proc. ASME. IMECE2005, Advances in Bioengineering, 19-22, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-80810
https://doi.org/10.1115/IMECE2005-80810
View Paper titled, Design of a Biopsy Module for the Capsule Type Endoscope
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Topics: Design, Endoscopes, Biological tissues, Control equipment, Cutting, Microscopes, Paraffin wax, Springs, Torsion, Surgery