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Research Experience Before Joining UWaterloo

Indusrial Research:

  • Improvement of an End-effector type Gait Rehabilitation Robot with a Seating type Body Weight Support (Product Name : MORNING WALK)
    (Oct 2015-Aug 2017, Hyundai Heavy Industries) 
    1. Classification: Robot Software Researcher
    2. Contributions/Responsibilities:
      1. Substantial contribution to improvement of the high-level controller development of the report function for training results (100%)
      2. Gait trajectory modification (100%)
      3. Functional improvement based on medical staff’s feedback (50%)
    3. Used Tools: VIsual Studio, MATLAB
    4. Remarks:
      1. The developed robot was launched in general hospitals in S. Korea with the attainment of medical certification (KFDA)
      2. I volunteered to the SW development occupation, and was promoted to Lead Researcher 1 year earlier thanks to the contributions to development

(Pic) Industrial SW Development 

  • Development of an End-effector type Gait Rehabilitation Robot with a Seating type Body Weight Support (Product Name : MORNING WALK)
    (May 2013-Sep 2015, Hyundai Heavy Industries) 
    1. Classification: Robot Hardware Researcher
    2. Contributions/Responsibilities:
      1. Major contributions to hardware design
        • Concept and basic design, detailed design, and kinematics (75%)
        • Actuator selection and sensor system design (100%)
        • Structural, kinematics and dynamics analysis
      2. Full responsibility for hardware design
    3. Used Tools: Solidworks, MATLAB, Recurdyn, ANSYS Workbench
    4. Remarks:
      1. 2 cycles of complete development (prototype and commercial versions)
      2. The commercial version of the robot attained a Korean certification as a medical device 
      3. 2 conference papers
      4. 1 US/EP/CN/JP/KR patent (1st inventor), 1 US/KR patent, 8 KR patents (granted mostly around in 2020-2022) 

(Pic) Industrial HW Development

(GIF) gait rehabilitation robot commercial version simulation

 

  • Development of Motion Planning Algorithm and Execution Program for a 6-axis Serial Manipulator for Bone-Aligning Surgical Robots
    (Nov 2012-Dec 2012, Hyundai Heavy Industries) 
    1. Classification: Robot Hardware Researcher
    2. Contributions/Responsibilities:
      1. Full contribution in developing motion planning algorithm and program
        1. motion planning algorithm for arbitrary linear motions the end-effector based on the given forward and inverse kinematics resources (100%)
        2. design to generate outputs compatible with Solidworks simulation (100%)
        3. generation of execution file package (100%)
    3. Used Tools: MATLAB

(pic) 6 axis motion planning program

(GIF) Linear Motion 1(GIF) Linear Motion Planning 2         (GIF) Linear Motion with Rotation(GIF) Linear Motion with rotation 2

(GIF) Motion Planning Program Checking Operation Range

  • Development of the 4DOF Needle Insertion End-effector for an Intervention Surgical Robotic System (insertion and rotation by 2 sets of grippers)
    (Nov 2012-May 2013, Hyundai Heavy Industries) 
    1. Classification: Robot Hardware Researcher
    2. Contributions/Responsibilities:
      1. Most contribution to hardware design of the end-effector
        1. Concept and basic design (50%)
        2. Detailed design and drawings (100%)
    3. Used Tools: Solidworks
    4. Remarks:
      1. 1 conference paper
      2. 3 Korean patents (granted in 2018-2020)
  • (Pic) Industrial HW Development_Intervention End Effector  

Graduate (Master's):

  • Design and Hardware Validation using CoP of a Walking Assistive Lower Limb Exoskeleton for Paraplegia Patient 
    (Mar 2011-Jul 2012, Yonsei University) 
    1. Classification: Master's thesis
    2. Contributions/Responsibilities:
      1. Full contribution and responsibility for the study
        1. Design and construction of system hardware, including force sensors and amplifying circuits (100%)
        2. Kinematic modeling and analysis (100%)
        3. Data acquisition via CAN communication and analysis (100%)
        4. Walking experiments  (100%)
    3. Used Tools: Solidworks, Code Composer (TI DSP compiler), MATLAB
    4. Remarks:
      1. 1 international journal paper, 1 domestic conference paper

(Pic) Masters thesis_exoskeleton             (GIF) walking experiments animation

 

  • Development of the Foot Module of an Augmenting Exoskeletal Robot for Industrial Workers 
    (May 2010-Jun 2011, Yonsei University) 
    1. Classification: Graduate research assistant under a university-industry cooperative project (Yonsei University and Hyundai Motor Company)
    2. Contributions/Responsibilities:
      1. Full contribution and responsibility for hardware development of  the foot module prototype
        1. Structural design and analysis (100%)
        2. Foot detection system implementation (100%)
    3. Used Tools: Solidworks, ANSYS workbench

(Pic) Development of Exoskeleton Foot

 

  • Development of the Patient-fall Detection System of an Intellectual Bed (Mar 2010-Jun 2011, Yonsei University) 
    1. Classification: Graduate research assistant
    2. Contributions/Responsibilities:
      1. Full contribution to the patient-fall measurement system development
        1. Design and construction of system hardware, including force sensors and amplifying circuits (100%)
        2. Data acquisition and communication (RS232 via Bluetooth) (100%)
        3. Partial responsibility for the total system of intellectual bed (20%)
    3. Used Tools: Solidworks, Aduino

(Pic) Intelligent ICU

 

  • Development of a Rapid, High-efficient Laundry Drying Rack (May 2010-Nov 2010, Yonsei University) 
    1. Classification: graduate research assistant
    2. Contributions/Responsibilities:
      1. Most contribution to design optimization of the drying rackUsed Tools: Solidworks, Aduino
        1. Flow simulation via DOE(design of experiments) methodology (100%)
        2. Parameter optimization via ANOM (analysis of means) (100%)
        3. Experiments (25%)
    3. Used Tools: Solidworks, ANSYS workbench

(Pic) Development of Drying Rack

 

  • Development of the Safety Algorithm and the Circular Path Tracking Algorithm for an UAV (Mar 2010-Sep 2010, Yonsei University) 
    1. Classification: Graduate research assistant
    2. Contributions/Responsibilities:
      1. Full contribution to the following components of the UAV
        1. Development of circular path algorithm for UAV (100%)
        2. Construction of safety algorithm and its circuit (100%)
        3. Partial responsibility for the total system of UAV (25%)
    3. Used Tools: Code Composer (TI DSP compiler), AVR (ATMEGA compiler)

(Pic) UAV development

Undergraduate:

  • Study on the Vibration of Strip Vertically Supported by Rollers at its Both Ends (Sep 2009-Dec 2009, Yonsei University) 
    1. Classification: Bachelor's thesis
    2. Contributions/Responsibilities:
      1. Full contribution and responsibility for the study
        1. Derivation of analytical modeling of the strip system and the solution
        2. Consideration and expansion of the solution to the variable roller size
    3. Used Tools: MATLAB

 

(Pic) strip vibration study