Papers
8
Total Citations
246
H-Index
8
About
Dr. Kyung-Lyong Han is a leading roboticist whose research bridges the critical domains of **powered exoskeletons** and **omni-directional mobile robotics**. His major contributions lie in developing safe, human-centered control systems for industrial applications. Han pioneered the use of **passivity-based nonlinear admittance control** for upper-limb exoskeletons, a breakthrough that ensures stable and intuitive human-robot interaction even under unknown environmental forces (47 citations). This work, alongside his development of a passivity-based nonlinear disturbance observer, directly addresses the safety challenges of robots handling heavy payloads alongside human operators. In mobile robotics, Han has fundamentally advanced the understanding of **Mecanum wheel** systems. By identifying the sources of position errors caused by wheel slip (40 citations), he enabled more precise control for omni-directional platforms, which he then applied to create mobile haptic interfaces for large virtual environments (35 citations). His applied impact is evident in the development of a stand-alone powered exoskeleton for steel manufacturing (34 citations) and an exoskeleton for refractory construction (43 citations), demonstrating a rare ability to translate complex control theory into tangible, heavy-industry solutions.
Research Focus
Key Achievements
Top Papers
- 1
- 2Development of a upper-limb exoskeleton robot for refractory construction43 citations · 2017
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- 6Design and control of mobile robot with Mecanum wheel26 citations · 2009
- 7Iterative Path Tracking of an Omni-Directional Mobile Robot12 citations · 2011
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