Papers
16
Total Citations
381
H-Index
10
About
Junhyoung Ha is a robotics researcher whose work sits at the intersection of surgical robotics, continuum robot mechanics, and robotic system design. He has made significant contributions to the field of concentric tube robots — slender, snake-like instruments ideally suited for minimally invasive surgery — particularly in addressing two of their most challenging problems: elastic instability and kinematic accuracy. His foundational work on optimizing tube precurvature to ensure stable robot configurations (accumulating over 70 combined citations) has become an important reference for designers of surgical robotic instruments. Ha has also advanced the understanding of how tube-to-tube clearance and friction contribute to hysteretic behavior in concentric tube robots, providing more realistic modeling frameworks that improve real-world performance. Beyond surgical robotics, he has contributed to sensor placement strategies for shape sensing, reconfigurable manipulator systems, soft robotic endoscopes for airway procedures, and probabilistic hand–eye calibration methods. With over 340 total citations across his published work, Ha's research has shaped both the theoretical foundations and practical design of next-generation medical and industrial robotic systems, making his work essential reading for students entering the field of continuum and surgical robotics.
Research Focus
Key Achievements
Top Papers
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- 6A Soft Robotic Balloon Endoscope for Airway Procedures29 citations · 2021
- 7Probabilistic Framework for Hand–Eye and Robot–World Calibration $AX = YB$20 citations · 2022
- 8Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes17 citations · 2016
- 9Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes16 citations · 2019
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