Dong-soo Kwon

KAIST, Department of Mechanical Engineering, Faculty Member

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Krishna Prasad Miyapuram

Indian Institute of Technology Gandhinagar

David Pierre Leibovitz

Carleton University

Dr. Majid Karimian

Universiti Teknologi Malaysia - UTM

Don Ross

University College Cork

David Seamon

Kansas State University

Aswani Kumar Cherukuri

VIT University

lotfi romdhane

American University of Sharjah

John Michael

Università degli Studi di Milano - State University of Milan (Italy)

Xin-She Yang

University of Cambridge

Fabio Cuzzolin

Oxford Brookes University

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Papers by Dong-soo Kwon

Intelligent interaction based on a surgery task model for a surgical assistant robot: Awareness of current surgical stages based on a surgical procedure model

International Journal of Control, Automation and Systems

... The contributions of Jonathan Kim and Won-Ho Shin are grateful-ly acknowledged. ...Woo-Jung L... more

Learning and reproduction of valence-related communicative gesture

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015

Wheelchair control sensor using movement of shoulders and wheelchair drive control apparatus using the same

Vibration Module for Portable Terminal

ABSTRACT

A Formal Method of Measuring Interactivity in HRI

RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication, 2007

In human-robot interaction (HRI), interactivity is a critical issue in terms of how they understa... more In human-robot interaction (HRI), interactivity is a critical issue in terms of how they understand each other and what makes them share grounds to communicate. This paper proposes measures to evaluate interaction process using information theoretic approach. The measures are designed to quantify the level of shared ground among agents and their environment. With these measures, an experiment is carried out in which human subjects were asked to interact with a virtual robot to assign tasks with voice interface. The results of the experiments show that the measures are useful in measuring the interactivity of HRI.

Design and Simulation of an MR Fluids-Based Haptic Actuator for Mobile Applications

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013

ABSTRACT This study presents a novel design of a miniature haptic actuator based on Magneto-Rheol... more ABSTRACT This study presents a novel design of a miniature haptic actuator based on Magneto-Rheological (MR) fluids for mobile applications, and it evaluates the performance of a haptic actuator using a simulation model. The primary design goal for a haptic actuator for mobile applications is to miniaturize its size while generating realistic haptic sensations. To this end, this study proposes to design the MR actuator’s piston head (or plunger) in cone-shape and activate multiple modes of MR fluids (direct shear, flow and squeeze modes). Using a simulation model developed by integrating magnetic and force equations, the performance of a haptic actuator was evaluated in terms of the force (resistive force) produced by the actuator. The results show that a small actuator model, dimension of 10 mm (L) × 10 mm (W) × 6.5 mm (H), produced a maximum resistive force of about 5 N at 0.3 Watts, which is sufficient to provide force feedback to users.

A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

ABSTRACT

Behavior Evaluation of the Shape-Retaining Chain Linked Model

ABSTRACT

멀티모달리티를 이용한 매개인터페이스 기술 Mediated Interface Technologies using Multimodality

A New Miniature Smart A ctuator based on Piezoelectric material and Solenoid for Mobile Devices

ABSTRACT

A VR Simulator of Sports Helicopter

1 인용 경량 스포츠 헬리콥터의 시뮬레이터를 개발하였다. 사용자는 운동 판 위에 설치된 헬리콥터 목업에 탑승하여 HMD 상에 보여지는 그래픽 환경 내에서 실제 헬리콥터를 운전... more 1 인용 경량 스포츠 헬리콥터의 시뮬레이터를 개발하였다. 사용자는 운동 판 위에 설치된 헬리콥터 목업에 탑승하여 HMD 상에 보여지는 그래픽 환경 내에서 실제 헬리콥터를 운전하듯 페달과 조향 장치를 조작하면서 현실적 운 동감을 느끼고, 시각, 운동감, 음향 효과의 생생한 재현을 경험하게 된다. 또 한, 현실과 혼합된 가상환경을 이용하여 사용자는 헬리콥터의 실제 모습과 가상환경을 동시에 보면서 운전할 수 있다. 개발된 헬리콥터 시뮬레이터는 다 자유도의 운동감 재현시스템, 조향 스틱과 페달 반력 장치, 시각 시뮬레이 터, 3 차원 음향시스템, 그리고 각 세부 시스템의 제어 모듈과 혼합가상환경 시스템으로 구성되어 있다. 본 연구를 통해서 혼합가상환경을 이용한 비행 시뮬레이터 개발에 필요한 요소 기술과 경험을 축적하였다.

Design of multiple-degree-of-freedom endoscope that overcomes spatial disorientation problems in trans-gastric NOTES

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014

Intelligent interaction between surgeon and laparoscopic assistant robot system

ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005., 2005

Page 1. Intelligent Interaction between Surgeon and Laparoscopic Assistant Robot System* Seong-Yo... more

Realization of expressive body motion using leg-wheel hybrid mobile robot: KaMERo1

2008 International Conference on Control, Automation and Systems, 2008

A 7 degrees of freedom leg-wheel hybrid mobile robot, it is called KaMERo(Kaist motion expressive... more A 7 degrees of freedom leg-wheel hybrid mobile robot, it is called KaMERo(Kaist motion expressive robot), which can conduct not only various types of locomotion but also noble body motions, is developed. The KaMERo has total three leg-wheel hybrid leg mechanisms. Basically each hybrid leg mechanism consists of 2-DOF leg which has 90 degrees bendable knee joint and one wheel

Effect of temperature in perceiving tactile stimulus using a thermo-tactile display

2008 International Conference on Control, Automation and Systems, 2008

... Gi-Hun Yang1 and Dong-Soo Kwon2 1 Center for Cognitive Robotics Research, KIST, Seoul, Korea ... more

Development of an Impact-Resonant Actuator for Mobile Devices

Lecture Notes in Computer Science, 2012

Experience based domestic environment and user adaptive cleaning algorithm of a robot cleaner

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014

Emotional interaction model for a service robot

ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005., 2005

Abstract This paper presents the emotional interaction model that receives classified inputs fr... more

Three Way Relationship of Human-Robot Interaction

Lecture Notes in Computer Science, 2007

In this paper, we conceptualize human-robot interaction (HRI) such that a 3-way relationship amon... more In this paper, we conceptualize human-robot interaction (HRI) such that a 3-way relationship among a human, robot and environment can be established. Various interactive patterns that may occur are analyzed on the basis of shared ground. The model sheds light on how uncertainty caused by lack of knowledge may be resolved and how shared ground can be established through interaction. We also develop measures to evaluate the interactivities such as an Interaction Effort, Interaction Situation Awareness using the information theory as well as Markovian transition. An experiment is carried out in which human subjects are asked to explain or answer about objects through interaction. The results of the experiments show the feasibility of the proposed model and the usefulness of the measures. It is expected that the presented model and measures will serve to increase understanding of the patterns of HRI and to evaluate the interactivity of HRI system.

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Unsupervised clustering for abnormality detection based on the tri-axial accelerometer

ABSTRACT Today&#39;s society confronts the aged problem by the reason that the rate of the po... more ABSTRACT Today&#39;s society confronts the aged problem by the reason that the rate of the population over age 65 increases rapidly in world wide. One important problem is how to manage them effectively from the dangerous emergency like falling, slipping or unintended activity. Such activity is required to be detected as the abnormal behavior to predict the dangerous emergency of elderly people so that they are protected from more fatal situation. There are many researches to classify the behavior but it is evaluated that it is not proper to detect just only the abnormal behavior. We propose the method of unsupervised learning to overcome the disadvantage of the supervised learning method only for abnormal activity detection. In experiment, we show that the unsupervised learning can be used to detect abnormal behavior from three subjects.