Transparent Force/Impedance Generation for Sports and Rehabilitation Training

R_05_Sehoon Oh(CV)
Sehoon Oh

Abstract :

Recently force control has become a significant topic in robotics, as robots that interact with human while doing their task require safe and human friendly force control. In order to answer the requirement, high performance transparent force control has been developed. Among many approaches, series elastic actuators are considered to be the most potential actuator solution to realize transparent force and impedance.

In this talk, various aspects of SEA will be discussed including mechanical design and dynamic analysis of SEA. Controller design and observer design based on the dynamic are also will be explored. Application of flexible system control ideas to SEA force control also will be presented taking into account the motor/drive limitation. Several types of SEA that are developed in DGIST will be introduced with the analysis of their dynamic characteristics, and their applications to motion training robots also will be presented.



PhD Electrical Engineering, The University of Tokyo, Japan, 2005. (Fundamental Research on Human-friendly Motion Control, Supervisor Yoichi Hori)
ME Electrical Engineering, The University of Tokyo, Japan, 2000. (Supervisor Yoichi Hori)
BE Electrical Engineering, The University of Tokyo, Japan, 1998. (Supervisor Yoichi Hori)


Professional Activities

  • 2015–Present, Assistant Professor at Daegu Gyeongbuk Institute of Science and Technology
  • 2015 Korea Robotics Society Annual Conference, Program Committee
  • 2014 Annual Conference of Institute of Control, Robotics and Systems, Program Committee
  • 2013–2015, Research Professor at Sogang University
  • 2012–2013, Senior Engineer at Samsung Heavy Industries
  • 2010–2011, Visiting Scholar at The University of Texas at Austin
  • 2010 IEEE International Workshop on Advanced Motion Control
  • 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Program Committee
  • 2009 IEEE International Symposium on Industrial Electronics, Program Committee
  • 2009 Annual conference of the Robotics Society of Japan, Program Committee
  • 2009–2010, Session Organizer at Annual Conference of the Robotics Society of Japan
  • 2008–2012, Project Assistant Professor in Graduate School of Engineering, University of Tokyo
  • 2007–2008, Research Associate in The Institute of Industrial Science, University of Tokyo
  • 2005–2007, Project Research Scientist in The Institute of Industrial Science, University of Tokyo



  • 2014 Best Paper Award for the IEEE Trans. on Industrial Electronics, IEEE IES
  • 2009 Technology Promotion Award of the Society of Instrument and Control Engineers Japan
  • 2008 Best Presentation Award, Intelligent Mechatronics Technical Committee Japan
  • 2005 Best Paper Presentations, American Control Conference of AACC
  • 2005 Second Prize in Finalist of Student Forum, IEEE International Symposium on Industrial Electronics
  • 2004 Best Presentation Award, Annual Conference of the IEEE Industrial Electronics