Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot

Sangok Seok, Albert Wang, Meng Yee Chuah, +5

IEEE/ASME Transactions on Mechatronics

Robot KinematicsEngineeringMechanical EngineeringField RoboticsEnergy-efficient Legged Locomotion +20

High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah

Dong Jin Hyun, Sangok Seok, Jongwoo Lee, +1

The International Journal of Robotics Research

EngineeringMovement BiomechanicsMit CheetahMotor ControlAdvanced Motion Control +22

Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance

Dong Jin Hyun, Hyunseok Park, Tae-Jun Ha, +2

Robotics and Autonomous Systems

Movement BiomechanicsBiomechanical DesignUpper ExtremityElectricity-powered Lower-limb ExoskeletonRehabilitation Robotics +14

A light-weight passive upper arm assistive exoskeleton based on multi-linkage spring-energy dissipation mechanism for overhead tasks

Dong Jin Hyun, KiHyeon Bae, KyuJung Kim, +2

Robotics and Autonomous Systems

Rehabilitation RoboticsKinesiologyNeuromuscular CoordinationHealth SciencesMechatronics +9

Waist-assistive exoskeleton powered by a singular actuation mechanism for prevention of back-injury

Hun Keon Ko, Seok Won Lee, Dong Han Koo, +2

Robotics and Autonomous Systems

Rehabilitation RoboticsKinesiologySingular Actuation MechanismMovement BiomechanicsWearable Robotics +11

Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I

Dong Jin Hyun, Jongwoo Lee, Sang-In Park, +1

The International Journal of Robotics Research

Gait AnalysisNeuromuscular CoordinationEngineeringMovement BiomechanicsMit Cheetah +27

Singular Wire-Driven Series Elastic Actuation with Force Control for a Waist Assistive Exoskeleton, H-WEXv2

Dong Jin Hyun, Hyunseop Lim, Sang-In Park, +1

IEEE/ASME Transactions on Mechatronics

EngineeringMotor ControlElastic DisplacementsRehabilitation RoboticsEmg Signals +20

Walking propulsion generation in double stance by powered exoskeleton for paraplegics

Dong Jin Hyun, Hyunseop Lim, Sang-In Park, +4

Robotics and Autonomous Systems

Powered ExoskeletonMovement BiomechanicsMotor ControlRehabilitation RoboticsKinesiology +15

Development of ankle-less active lower-limb exoskeleton controlled using finite leg function state machine

Dong Jin Hyun, Hyunseop Lim, Sang-In Park, +1

International Journal of Precision Engineering and Manufacturing

Bipedal LocomotionRehabilitation RoboticsKinesiologyEngineeringMechanical Control +8

Guidelines for Working Heights of the Lower-Limb Exoskeleton (CEX) Based on Ergonomic Evaluations

Yong‐Ku Kong, Chaewon Park, Min-Uk Cho, +7

International Journal of Environmental Research and Public Health