Sangrok Jin

About

Sangrok Jin is a leading researcher in the fields of underwater robotics and minimally invasive surgical robotics, with a focus on advanced control systems and mechanism design. His most impactful work includes pioneering the development of an underwater robotic platform with four tilting thrusters, enabling six-degree-of-freedom hovering control through innovative selective switching and sliding mode control strategies (76 citations). In surgical robotics, Jin has made significant contributions to flexible systems, including a recurrent neural network with a Preisach model for modeling hysteresis in tendon-sheath mechanisms used in surgical robots (34 citations), and a comprehensive review of soft tissue surgical robots for minimally invasive surgery (28 citations). His work also encompasses kinematic modeling and path generation for wire-driven surgical robot arms (25 citations), as well as control strategies for direct teaching of surgical assistant robots with force/torque sensors. With over 250 total citations across his most-cited papers, Jin's research bridges the gap between theoretical control methods and practical robotic applications, advancing both underwater exploration and surgical precision.

Research Focus

Key Achievements

Top Papers

1. 1
   Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform With Four Tilting Thrusters via Selective Switching Control

   76 citations · 2015
2. 2
   Recurrent Neural Network With Preisach Model for Configuration-Specific Hysteresis Modeling of Tendon-Sheath Mechanism

   34 citations · 2022
3. 3
   Soft tissue surgical robot for minimally invasive surgery: a review

   28 citations · 2023
4. 4
   Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

   25 citations · 2019
5. 5
   Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot

   25 citations · 2018
6. 6
   Hovering control of an underwater robot with tilting thrusters using the decomposition and compensation method based on a redundant actuation model

   16 citations · 2022
7. 7
   Safe Trajectory Path Planning Algorithm Based on RRT* While Maintaining Moderate Margin From Obstacles

   15 citations · 2023
8. 8
   Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage

   14 citations · 2016
9. 9
   Positioning control of an underwater robot with tilting thrusters via decomposition of thrust vector

   12 citations · 2017
10. 10
    Control Strategy for Direct Teaching of Non-Mechanical Remote Center Motion of Surgical Assistant Robot with Force/Torque Sensor

    11 citations · 2021

Key Collaborators

Contact & Links