All Publications

Updated on Oct 27, 2020

International Journal (SCI/E)​

*corresponding author,   equal contribution

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2021

P. Pathak, H. S. Kim, H. Kim, J. Park, G. Lee, and J. Ahn*., “Compression tights with inward-directing taping lines correct out-toeing gait for female dancers,” under review

W. Choi, W. Yang, G. Lee, and W. Nam*., “Parent–Child Structured Optimizer for Hyperparameter Optimization for Gait Phase Estimation,” under review

Y-J. Koo, J. K. Seon, G. Lee, and S. Koo*., “Influences of partial anterior cruciate ligament injury on anterior cruciate ligament tensional force and kinematic stability during walking,” under review

W. Choi, W. Yang, J. Na, J. Park, G. Lee*, and W. Nam*., “Unsupervised gait phase estimation with domain-adversarial neural network and adaptive window,” under review

J. H. Yang, J. Park, J. Kim, S. Park, and G. Lee*., “Reducing the energy cost of running using a lightweight, low-profile elastic exosuit,” under review

J. Moon, J. Ryu, J. Kim*, and G. Lee*., “CoiLeaf Spring: A Hybrid System of Coil and Leaf Springs for Maximizing Space Utilization and Energy Storage,” under review

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J. Ryu, S. Park, S. H. Koo*, and G. Lee*., “Development of Auto-Fit Dial and its Application to Protective Vest,” under review

J. Kim, J. Moon, J. Ryu, and G. Lee*., “CVGC-II: A New Version of a Compact Variable Gravity Compensator (CVGC) with a Wider Range of Variable Torque and Energy-Free Variable Mechanism,” IEEE/ASME Transactions on Mechatronics, in press.

J. Kim, J. Moon, J. Ryu, and G. Lee*., “Bioinspired Divide-and-Conquer Design Methodology for a Multifunctional Contour of a Curved Lever,” Applied Sciences, vol. 11, no. 13, 2021

2020

J. Kim, J. Yang, S. T. Yang, Y. Oh, and G. Lee*, “Optimizing Hip Joint Offsets in Humanoid Robot via Taguchi Method for Maximal Energy Efficiency,” Applied Sciences, vol. 10, no. 20, 7287, 2020

J. Kim, J. Moon, J. Kim, and G. Lee*, “Compact Variable Gravity Compensation Mechanism with a Geometrical Optimized Lever for Maximizing Variable Ratio of Torque Generation,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 4, 2020

C. Kim, G. Kim, Y. Lee, G. Lee, S. Han, D. Kang, S. H. Koo*, and J. Koh*, “Shape Memory Alloy Actuator-Embedded Smart Clothes for Ankle Assistance,” Smart Materials and Structures, 2020

2019

S. Yang, J. Ryu, S. Park, Y. Lee, S. Koo, Y. Park, and G. Lee*, “An Active Compression Sleeve with Variable Pressure Levels using A Wire-Fabric Mechanism and A Soft Sensor,” Smart Materials and Structures, 2019

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J. Kim , G. Lee , R. Heimgartner, D. A. Revi, N. Karavas, D. Ryan, I. Galiana, P. Murphy, A. E. Erdheim, D. Perry, N. Menard, D. K. Choe, P. Malcolm, and C. Walsh, “Reducing the metabolic rate of walking and running with a versatile, portable exosuit,” Science, vol. 365, no. 6454, pp. 668-672, 2019 (  equally contributed as 1st author)

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2018

S. Park, J. Kim, and G. Lee*, “Optimal Trajectory Planning considering Optimal Torque Distribution of Redundantly Actuated Parallel Mechanism,” Part C: Journal of Mechanical Engineering Science,  vol. 232, no. 23, pp. 4410-4419, 2018

 

G. Lee, D. Lee, and Y. Oh, “One-piece Gravity Compensation Mechanism using Cam Mechanism and Compression Spring,” International Journal of Precision Engineering and Manufacturing–Green Technology, vol. 5, no. 3, pp. 415-420, 2018.

2017

G. Lee, J. Kim, F. Panizzolo, Y. M. Zhou, L. Baker, I. Galiana, P. Malcolm and C. J. Walsh, “Reducing the metabolic cost of running with a tethered soft exosuit,” Science Robotics, vol. 2, no. 6, eaan6708, 2017.

 

G. Lee, S, Hur, and Y. Oh, “High-Force Display Capability and Wide-Workspace with a Novel Haptic Interface,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 1, pp. 138-148, 2017.

 

S. Park, J. Kim, J. Jeong, J. Kim, and G. Lee*, “Optimal Dimensioning of Redundantly Actuated Mechanism for Maximizing Energy Efficiency and Workspace via Taguchi Method,” Part C: Journal of Mechanical Engineering Science, vol. 231, no. 2, pp. 326-340, 2017.

2016

G. Lee, J. Jeong, and J. Kim, “Calibration of Encoder Indexing of a Redundantly Actuated Parallel Mechanism to Eliminate Contradicting Control Forces,” Mechanics Based Design of Structures and Machines, vol. 44, no. 4, pp. 306-316, 2016.

G. Lee, H. Kim, K. Seo, J. Kim, M. Sitti, and T. Seo, “Series of Multilinked Caterpillar Track‐type Climbing Robots,” Journal of Field Robotics, vol. 33, no. 6, pp. 737-750, 2016.

2015

G. Lee, S. Park, D. Lee, F. C. Park, J. Jeong, and J. Kim, “Minimizing Energy Consumption of Parallel Mechanisms via Redundant Actuation,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 6, pp. 2805-2812, 2015.

G. Lee, H. Kim, K. Seo, J. Kim, and H. Kim, “MultiTrack: A multi-linked track robot with suction adhesion for climbing and transition,” Robotics and Autonomous Systems, vol. 72, pp. 207-216, 2015.

G. Lee*, S. Sul, and J. Kim, “Energy-Saving Method of Parallel Mechanism by Redundant Actuation,” International Journal of Precision Engineering and Manufacturing–Green Technology, vol. 2, no. 4, pp. 345-351, 2015.

2014

S. Nam, J. Oh, G. Lee, J. Kim, and T. Seo, “Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion,” Journal of Mechanical Science and Technology, vol. 28, no. 12, pp. 5175-5187, 2014.

2012

G. Lee, G. Wu, J. Kim, and T. Seo, “High-Payload Climbing and Transitioning by Compliant Locomotion with Magnetic Adhesion,” Robotics and Autonomous Systems, vol. 60, no. 10, pp. 1308-1316, 2012.

International Conference

J. Kim, J. Moon, J. Kim, and G. Lee*, “Design of Compact Variable Gravity Compensator (CVGC) Based on Cam and Variable Pivot of a Lever Mechanism,” in Proc. Int’l Conf, Intelligent Robots and System (IROS), Nov, 2019.. 

S. Yang, J. Ryu, D. Kim, and G. Lee*, “Active compression sleeve with wire-driven mechanism for human rehabilitation and assistance,” in Proc. Int’l Work. Active Materials and Soft Mechatronics (AMSM), Daejeon, South Korea, Oct, 2018.

G. Lee, “Swtiching admittance-position control of soft exosuits for walking and jogging assistance with off-board actuation,” in Proc. Int’l Work. Active Materials and Soft Mechatronics (AMSM), Daejeon, South Korea, Oct, 2018.

J. Kim, R. Heimgartner, G. Lee, N. Karavas, D. Perry, D. L. Ryan, A. Eckert-Erdheim, P. Murphy, D. K. Choe, I. Galiana, and C. J. Walsh, “Autonomous and Portable Soft Exosuit for Hip Extension Assistance with Online Walking and Running Detection Algorithm,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May, 2018.

 

S. Lee, N. Karavas, B. T. Quinlivan, D. L. Ryan, D. Perry, A. Eckert-Erdeim, P. Murphy, T. G. Goldy, N. Menard, M. Athanassiu, J. Kim, G. Lee, I. Galiana, and C. J. Walsh, “Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May, 2018.

 

D. Choe, J. Kim, G. Lee, N. Karavas, N. Menard, and C. J. Walsh, “Autonomous Soft Exosuit with Hip Extension Assistance for Overground Walking and Jogging,” in Proc. IEEE International Symposium on Wearable Robotics (WeRob), Nov, 2017.

 

G. Lee, Y. Ding, I. G. Buganda, N. Karavas, Y. M. Zhuo, and C. J. Walsh, “Improved Assisting Profile Tracking of Soft Exosuits for Walking and Jogging with Off-board Actuation,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sep, 2017.


 P. Malcolm, F. A. Panizzolo, J. Speeckaert, J. Kim, H. Su, G. Lee, I. Galiana, K. G. Holt, and C. J. Walsh, “Effect of Slope and Speed on Kinetics of Jogging with a Backpack,” in Proc. 41st Annual Meeting of the American Society of Biomechanics, Aug, 2017.

 

J. Lee, G. Lee, and Y. Oh, “Energy-Efficient Robotics Leg Design Using Redundantly Actuated Parallel Mechanism,” in Proc. IEEE Int’l Conf. Advanced Intelligent Mechatronics (AIM), pp. 1203-1208, Jul, 2017.

 

M. Jeung, G. Lee, and Y. Oh, “Realization of Human Neck Motion with Novel Robotic Mechanism,” in Proc. IEEE Int’l Conf. Ubiquitous Robots and Ambient Intelligence (URAI), pp. 482-486, Aug, 2016.

J. Lee, G. Lee, S. Hong, S. Lee, J. Kim, and Y. Oh, "A novel multi-articular leg mechanism for biped robots inspired by bi-articular muscle," in Proc. Int'l Conf. Biomedical Robotics and Biomechatronics (BioRob), pp. 1372-1377, 2016.

 

G. Lee, S. Hur, and Y. Oh, “A Novel Haptic device with High-force Display Capability and Wide workspace,” in Proc. Int'l Conf. Robotics and Automation (ICRA), pp. 2704-2709, 2016.

 

G. Lee, S. Park, H. Kim, J. Jeong and J. Kim, "Energy Saving Effect Mapping of Redundant Actuation in Workspace," Procedia CIRP, vol. 26, pp. 145-149, 2015.

 

G. Lee, D. Lee, J. Jeong and J. Kim, “Energy savings of a 2-DOF manipulator with redundant actuation,” in Proc. Int'l Conf. Robotics and Automation (ICRA), pp. 5076-5081, May, 2014.

 

T. Kim, J. Kim, K. Seo, H. Kim, G. Lee, J. Kim and H. Kim, "Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot," Applied Mechanics and Materials, vol. 541, pp. 1092-1096, Feb. 2014.

 

S. Park, J. Kim, G. Lee, J. Jeong and J. Kim "Linkage optimization of 2-DOF redundant actuated manipulator for maximizing energy efficiency," Int'l Symposium on Green Manufacturing and Applications (ISGMA), Jun, 2014.

 

G. Lee, JI. Jeong, S. Kim, D. Lee and J. Kim, "Energy saving by using a redundantly actuated parallel mechanism," in Proc. Global Conference on Sustainable Manufacturing (GCSM), pp. 348-352, Sep, 2013.

 

G. Lee, J. Jeong and J. Kim, "Energy savings of a 2-DOF parallel manipulator with redundant actuation," Int'l Symposium on Green Manufacturing and Applications (ISGMA), Jun, 2013.

 

G. Lee, G. Wu, S. Kim, J. Kim and T. Seo, “Combot: Compliant climbing robotic platform with transitioning capability and payload capacity,” in Proc. Int'l Conf. Robotics and Automation (ICRA), pp. 2737-2742, May, 2012.

 

G. Lee, K. Seo, S. Lee, J. Park, H. Kim, J. Kim and T. Seo, “Compliant track-wheeled climbing robot with transitioning ability and high-payload capacity," in Proc. Int'l Conf. Robotics and Biomimetics (ROBIO), pp. 2020-2024, Dec, 2011.

 

G. Lee, J. Park, H. Kim, K. Seo, J. Kim and T. Seo, "Wall Climbing Robots with Track-wheel Mechanism," in Proc. Int'l Conf. Machine Learning and Computing (ICMLC), vol. 3, pp. 334-337, Feb, 2011.

Domestic Journal (Republic of Korea)

J. Oh, G. Lee, J. Kim and T. Seo, "Development and Tracking Control of a Multi-Link Climbing Robot with High Payload Capacity and Various Transition Abilities," Journal of Institute of Control, Robotics and Systems, vol. 19, no. 10, pp. 915-920, 2013.

 

G.Lee, K. Seo, H. Kim, S. Kim, D. Jeon, H. Kim and J. Kim, “Design of a transformable track mechanism for wall climbing robots,” Journal of the Korean Society for Precision Engineering, vol. 29, no. 2, pp. 178-184, 2012.

 

Domestic Conference (Republic of Korea)

유성근, 김제혁, 김종원, 이기욱, "산업용 유사-수동형 상지 외골격 로봇 개념안," 한국정밀공학회, vol. 2018, no. 5, pp. 373, 2018.

배장호, 박수민, 김제혁, 김영수, 유성근, 김건우, 이기욱, 김종원, "여유구동 병렬기구의 에너지 절감을 위한 경로 최적화," 한국정밀공학회, vol. 2016, no. 5, pp. 257-258, 2016.

배장호, 박수민, 이기욱, 김제혁, 김영수, 유성근, 김건우, 정재일, 김종원, "여유구동 병렬기구를 이용한 에너지 절감 매니퓰레이터 개발," 한국정밀공학회, vol. 2015, no. 12, pp. 13-14, 2015.

박수민, 이기욱, 김제혁, 김영수, 김홍민, 김종원, "직렬 매니퓰레이터 구조를 확장한 신규 여유구동 메커니즘," 제어로봇시스템학회, vol. 2015, no. 5, pp. 157-158, 2015.

 

박수민, 이기욱, 정재일, 김종원, "여유구동 및 비여유구동 병렬기구의 작업영역 내 최대 동적 토크 비교," 한국정밀공학회 추계학술대회,  vol. 2014, no. 10, 2014.

 

이기욱, 오종균, 김종원, 서태원, "높은 유효하중 능력과 다양한 벽면전환 능력을 가지는 다관절 등반로봇 개발," 제어로봇시스템학회, vol. 2013, no. 5, pp. 330-331, 2013.

 

남성민, 오종균, 이기욱, 김종원, 서태원, "유연한 등반 로봇의 동역학 해석," 한국정밀공학회 춘계학술대회, pp. 245-246, 2012.

 

이기욱, 우지윤, 김종원, 서태원, "벽면 전환 능력과 페이로드 성능을 가지는 유연한 등반 로봇 개발," 한국정밀공학회 추계학술대회, vol. 2011, no. 10, pp. 39-40, 2011.

 

이기욱, 우지윤, 김종원, 서태원, "높은 페이로드 성능을 가지는 유연한 등반로봇의 개발," 한국정밀공학회 춘계학술대회, vol. 2011, no. 6, pp. 445-446, 2011.

이기욱, 서근찬, 김황, 박준환, 이봉주, 김재호, 김종원, "변형 캐터필러 메커니즘을 이용한 등반로봇 설계," 한국정밀공학회 춘계학술대회,  vol. 2010, no. 5, pp. 1219-1220, 2010.

Domestic Patent (Republic of Korea)

G. Lee, J. Ryu, S. Yang, and D. Kim, Apparatus for fastening wire, 10-2019-0020549, Patent Pending.

G. Lee, J. Moon, J. Kim, and J. Kim, Apparatus for variable gravity compensation, 10-2019-0017387, Patent Pending.

J. Kim, J.l Jeong, and G. Lee, Method for forming redundant parallel mechanism and system for distribution of actuation force, 1017111280000, Korea, Patent Registration.

 

Y. Oh, G. Lee, and S. Hur, Parallel link structure and force-reflecting interface system having the same, 1017925660000, Korea, Patent Registration.

 

J. Lee, Y. Oh, and G. Lee, Lower body of robot comprising parallel link structure and moving robot apparatus comprising the same, 10-2016-0155575, Korea, Patent Pending.