Wan-Soo Kim

Post Doc
Post-Doc.

About

Wansoo Kim is a post-doctoral researcher at Human-Robot Interfaces and Physical Interaction Lab, IIT, Italy. He received the B.S. degree in mechanical engineering from Hanyang University, Korea in 2008 and PhD degree in mechanical engineering from Hanyang University, Korea in 2015 (Integrated MS/PhD program). He has developed several exoskeleton systems such as HEXAR-Hanyang Exoskeleton Assistive Robot, and conducted research on the control of the powered exoskeleton robot through the physical human-robot interaction (pHRI) forces. He is currently involved in a project Horizon-2020 project SOPHIA. He has contributed to several projects in the field of exoskeleton robot in Korea projects (High responsive control technology of a lower-limb exoskeleton under rough terrain-1415144732, Development of Wearable Robot for Industrial Labor Support-1415135223, etc.), and joint R&D projects with a company (DSME and LIG Nex1). He was the winner of the Solution Award 2019 (Premio Innovazione Robotica at MECSPE2019), the winner of the KUKA Innovation Award 2018, the winner of the HYU best PhD paper award 2015, and the winner of the ICCAS best presentation award 2014. His research interests are in Physical human-robot interaction (pHRI), human-robot collaboration, Shared Control, Ergonomics, Human modelling, Feedback devices, and powered exoskeleton robot.

Interests

Physical human-robot interaction (pHRI) human-robot collaboration Shared Control Ergonomics Human modelling Feedback devices exoskeleton robot

IIT Publications

  • 2020
  • Fortini L., Lorenzini M., Kim W.iit, De Momi E., Ajoudani A.iit

    A Framework for Real-time and Personalisable Human Ergonomics Monitoring

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Mobedi E.iit, Villa N., Kim W.iit, Ajoudani A.iit

    An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

    The 29th IEEE International Conference on Robot and Human Interactive Communication
  • Wu Y., Zhao F., Kim W.iit, Ajoudani A.iit

    An Intuitive Formulation of the Human Arm Active Endpoint Stiffness

    Sensors
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    An online method to detect and locate an external load on the human body with applications in ergonomics assessment

    Sensors, vol. 20, (no. 16), pp. 1-18
  • Fortini L., Lorenzini M., Kim W.iit, De Momi E., Ajoudani A.iit

    A Real-time Tool for Human Ergonomics Assessment based on Joint Compressive Forces

    The 29th IEEE International Conference on Robot and Human Interactive Communication
  • Lamon E.iit, Fusaro F.iit, Balatti P.iit, Kim W.iit, Ajoudani A.iit

    A Visuo-Haptic Guidance Interface for the Mobile Collaborative Robotic Assistant (MOCA)

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Kim H.-J., Lim D.-H., Kim W.-S.iit, Han C.-S.
    DOI

    Development of a Passive Modular Knee Mechanism for a Lower Limb Exoskeleton Robot and Its Effectiveness in the Workplace

    International Journal of Precision Engineering and Manufacturing, vol. 21, (no. 2), pp. 227-236
  • Kim W.iit, Balatti P.iit, Lamon E.iit, Ajoudani A.iit

    MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions

    2020 International Conference on Robotics and Automation (ICRA)
  • Lamon E.iit, Lenori M., Kim W.iit, Ajoudani A.iit

    Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing

    IEEE International Conference on Robotics and Automation (ICRA)
  • 2019
  • Kim W.iit, Lorenzini M.iit, Balatti P.iit, Nguyen D.H.P.iit, Pattacini U.iit, Tikhanoff V.iit, Peternel L., Fantacci C.iit, Natale L.iit, Metta G.iit, AJOUDANI A.iit
    DOI

    Adaptable workstations for human–robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity

    IEEE Robotics and Automation Magazine
  • Lorenzini M.iit, Kim W.iit, Momi E.D., Ajoudani A.iit
    DOI

    A new overloading fatigue model for ergonomic risk assessment with application to human-robot collaboration

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 1962-1968
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    A real-time graphic interface for the monitoring of the human joint overloadings with application to assistive exoskeletons

    Biosystems and Biorobotics, vol. 22, pp. 281-285
  • Wu Y.iit, Balatti P.iit, Lorenzini M.iit, Zhao F., Kim W.iit, Ajoudani A.iit
    DOI

    A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

    IEEE Robotics and Automation Letters, vol. 4, (no. 4), pp. 3593-3600
  • Wu Y., Balatti P.iit, Lorenzini M., Zhao F., Kim W.iit, Ajoudani A.iit

    A Teleoperation Interface for Loco-manipulation Control of MObile Collaborative robotic Assistant (MOCA)

    IEEE Robotics and Automation Letters
  • Kim S.-H., Lee Y.-S., Sun D.-I., Lee S.-K., Yu B.-H., Jang S.-H., Kim W.iit, Han C.-S.
    DOI

    Development of bulldozer sensor system for estimating the position of blade cutting edge

    Automation in Construction, vol. 106
  • Kim W.iit, Lorenzini M., Balatti P., Wu Y., Ajoudani A.iit

    Towards Ergonomic Control of Collaborative Effort in Multi-human Mobile-robot Teams

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2018
  • Lorenzini M.iit, Kim W.iit, Demomi E., Ajoudani A.iit

    A Learning-based Approach to the Real-time Estimation of the Feet Ground Reaction Forces and Centres of Pressure in Humans

    National Congress of Bioengineering
  • Kim W.iit, Lee J.iit, Peternel L.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 68-75
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    A synergistic approach to the Real-Time estimation of the feet ground reaction forces and centers of pressure in humans with application to Human-Robot collaboration

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3654-3661
  • Kim W.iit, Lorenzini M.iit, Kapicioglu K., Ajoudani A.iit
    DOI

    ErgoTac: A Tactile Feedback Interface for Improving Human Ergonomics in Workplaces

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 4179-4186
  • 2017
  • Kim W.iit, Lee J.iit, Tsagarakis N.G.iit, Ajoudani A.iit
    DOI

    A Real-time and Reduced-Complexity Approach to the Detection and Monitoring of Static Joint Overloading in Humans

    IEEE International Conference on Rehabilitation Robotics, pp. 828 - 834
  • Kim W.iit, Kim H., Lim D., Moon H., Han C.
    DOI

    Design and kinematic analysis of the hanyang exoskeleton assistive robot (hexar) for human synchronized motion

    Biosystems and Biorobotics, vol. 16, pp. 275-279
  • Lim D.-H., Kim W.-S.iit, Kim H.-J., Han C.-S.
    DOI

    Development of real-time gait phase detection system for a lower extremity exoskeleton robot

    International Journal of Precision Engineering and Manufacturing, vol. 18, (no. 5), pp. 681-687
  • Peternel L.iit, Kim W.iit, Babic J., Ajoudani A.iit
    DOI

    Towards ergonomie control of human-robot co-manipulation and handover

    IEEE-RAS International Conference on Humanoid Robots, pp. 55-60
  • 2016
  • Yu S., Lee H., Kim W., Han C.
    DOI

    Development of an underactuated exoskeleton for effective walking and load-carrying assist

    Advanced Robotics, vol. 30, (no. 8), pp. 535-551
  • 2015
  • Kim H.J., Lee H.D., Kim W.S., Lim D.H., Han C.S.
    DOI

    Design of roller-cam clutch mechanism for energy efficiency and high backdrivability of lower extremity exoskeleton

    ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, pp. 1144-1148
  • Lim D., Kim W., Lee H., Kim H., Shin K., Park T., Lee J., Han C.
    DOI

    Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage

    IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, pp. 5345-5350
  • 2014
  • Kim W.S., Lee H.D., Lim D.H., Han J.S., Shin K.S., Han C.S.
    DOI

    Development of a muscle circumference sensor to estimate torque of the human elbow joint

    Sensors and Actuators, A: Physical, vol. 208, pp. 95-103
  • Lee H.-D., Lee B.-K., Kim W.-S., Han J.-S., Shin K.-S., Han C.-S.
    DOI

    Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification

    Mechatronics, vol. 24, (no. 2), pp. 168-176
  • Kim W., Lee H., Kim D., Han J., Han C.
    DOI

    Mechanical design of the Hanyang Exoskeleton Assistive Robot(HEXAR)

    International Conference on Control, Automation and Systems, pp. 479-484
  • 2013
  • Kim W.S., Lee H.D., Lim D.H., Han C.S., Han J.S.

    Development of a lower extremity exoskeleton system for walking assistance while load carrying

    Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, pp. 35-42
  • Kim W.S., Lee H.D., Lim D.H., Han C.S., Han J.S.
    DOI

    Development of a lower extremity exoskeleton system for walking assistance while load carrying

    Nature-Inspired Mobile Robotics, pp. 35-42, Publisher: World Scientific Publishing Co.
  • Yu S.-N., Ko K.-J., Kim K.-S., Kim W.-S.
    DOI

    Terrain classification strategy of a quadruped robot for gait transition and adaptation in a field terrain

    Advanced Science Letters, vol. 19, (no. 1), pp. 21-26
  • Yu S.N., Ko K.J., Kim K.S., Kim W.S.
    DOI

    Terrain Classification Strategy of a Quadruped Robot for Gait Transition and Adaptation in a Field Terrain

    Advanced Science Letters, vol. 19, (no. 1), pp. 21-26
  • 2012
  • Yu S.N., Lee H.D., Lee S.H., Kim W.S., Han J.S., Han C.S.
    DOI

    Design of an under-actuated exoskeleton system for walking assist while load carrying

    Advanced Robotics, vol. 26, (no. 5-6), pp. 561-580
  • Reum Seo A., Jang H.Y., Kim W.S., Han C.S., Han J.S.
    DOI

    Development and verification of a volume sensor for measuring human behavior

    International Journal of Precision Engineering and Manufacturing, vol. 13, (no. 6), pp. 899-904
  • Lee H., Lee B., Kim W., Gil M., Han J., Han C.
    DOI

    Human-robot cooperative control based on pHRI (Physical human-robot interaction) of exoskeleton robot for a human upper extremity

    International Journal of Precision Engineering and Manufacturing, vol. 13, (no. 6), pp. 985-992
  • Lee H., Kim W., Han J., Han C.
    DOI

    The technical trend of the exoskeleton robot system for human power assistance

    International Journal of Precision Engineering and Manufacturing, vol. 13, (no. 8), pp. 1491-1497
  • 2010
  • Kim W., Lee S., Kang M., Han J., Han C.
    DOI

    Energy-efficient gait pattern generation of the powered robotic exoskeleton using DME

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 2475-2480
  • Lee S., Kim W., Kang M., Han J., Han C.
    DOI

    Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 500-505
  • Kim K., Ko K., Kim W., Yu S., Han C.

    Performance comparison between neural network and SVM for terrain classification of legged robot

    Proceedings of the SICE Annual Conference, pp. 1343-1348
  • 2009
  • Kim W.-S., Lee S.-H., Lee H.-D., Yu S.-N., Han J.-S., Han C.-S.

    Development of the heavy load transferring task oriented exoskeleton adapted by lower extremity using qausi-active joints

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings, pp. 1353-1358
  • Ko K.J., Kim W.S., Yu S.N., Han C.S.
    DOI

    Virtual sensor verification using neural network theory of the quadruped robot

    Transactions of the Korean Society of Mechanical Engineers, A, vol. 33, (no. 11), pp. 1326-1331
  • 2008
  • Kim W., Yu S., Han C.

    Leg swing trajectory generation of quadruped robot considering required torque reduction and leg function distribution

    39th International Symposium on Robotics, ISR 2008, pp. 329-333

Awards

 

  • Winner of the KUKA Innovation Award 2018
  • Best Ph.D Thesis Award, Graduate School, Hanyang University
  • Best Presentation Award, 2014 14th International Conference on Control, Automation, and Systems (ICCAS), ICROS
  • Best Paper Award, Korean Society for Precision Engineering (KSPE) 2011 Autumn Conference, KSPE
  • Best Paper Award, Korean Society for Precision Engineering (KSPE) 2010 Spring Conference, KSPE