이 찬
Assistant Professor
공학박사 조교수
Department of Robotics Engineering
Yeungnam University
영남대학교 로봇공학과
Chan Lee
Lab
About me
Research Interests
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Compliant and robust actuation using Series Elastic Actuator (SEA)
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Development of human-robot interactive applications
Education
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Ph.D. degree, 2015~2020 (Supervisor: Sehoon Oh), Robotics Engineering, DGIST, Korea
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Thesis Title: 'Design, Analysis and Control of Compliant Actuator for Dynamic Interaction'
Research Experience
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Assistant Professor, 2021~present, Yeungnam University
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Postdoctoral Researcher, 2020~2021, DGIST
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Undergraduate Student Project TA, 2019, UGRP-DGIST
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Visiting Scholar, April~July 2017, Advanced Robotics Dep. - Istituto Italiano di Tecnologia (IIT, Italy, supervised by Dr. Jinoh Lee)
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Project Director, 2016~2018, Global Ph.D. Fellowship Project "Development of an Exercise Robotic System Using a Human-inspired Robot Based on an Impedance Control" Funded by NRF, Korea
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Reviewer of IEEE TIE, TMECH, RA-L, Access, IFAC Mechatronics, and IJCAS.
Honors and Awards
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Bronze Award of The Humantech Paper Award, SAMSUNG, 2020
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DGIST Robotics Global Fellowship, Department of Robotics Engineering, DGIST, 2017
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Global Ph. D. Fellowship, National Research Foundation (NRF) of the Korean government, 2016
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Best Presentation Award from the Annual Conference of the IEEE Industrial Electronics Society (IECON), 2015
Involved Project (Finished)
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2016~2019, Research on Robot-Aided Sports Training System Based on High-Performance Elastic Actuator, NRF, Korea
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2016~2018, Development of an Exercise Robotic System Using a Human-inspired Robot Based on an Impedance Control, NRF, Korea
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2012-2015, Development of 4-axis Impedance-controlled Gantry Robot for Grinding, KIAT, Korea
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Dynamics control of multi-DOF robotic applications
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2017~2019, Development of Exercise Robot for Improvement of Muscular Function that Measures and Evaluates Muscle State and Generate Various Exercise Load, MOTIE, Korea
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The awardee of the IEEE IES Student & Young Professionals Paper Assistance (IES-SYPA) competition. IEEE-IES, 2019
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Grand Presentation Award from the annual conference of Society of Global Ph. D. Fellows, 2018
Chan Lee
Ph. D., Assistant Professor
Born at May 1988
 Robot System Design |  Dynamic Robots |
|---|---|
 High Performance Actuator Design |  Control System Design for Robust Motion and Force Control |
International Journal
Lee, C., Lee, J. and Oh, S., 2021 (under review). Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer. IEEE Transactions on Control Systems Technology.
Choi, W., Kwak, J., Lee, C., and Oh, S., 2021 (accepted). Gravity and Impedance Compensation of Body Weight Support System Driven by Two Series Elastic Actuators, IEEE Transactions on Mechatronics.
Lee, C. and Oh, S., 2021 (accepted). Performance Analysis of Series Elastic Actuator based on Maximum Torque Transmissibility, IEEE Transactions on Control Systems Technology.
Lee, C. and Oh, S., 2020. Optimal Landing Strategy for Two-mass Hopping Leg with Natural Dynamics. IEEE Robotics and Automation Letters, Vol. 5, No. 2.
Lee, C. and Oh, S., 2019. Development, Analysis and Control of Series Elastic Actuator-Driven Robot Leg. Frontiers in Neurorobotics,13:17. doi: 10.3389/fnbot.2019.00017.
Lee, C., Kim, J.Y., Kim, S.Y. and Oh, S., 2018. Human force observation and assistance for lower limb rehabilitation using wire-driven series elastic actuator. Mechatronics, 55, pp.13-26.
Lee, C., Lee, J., Tsagarakis, N. and Oh, S., 2018. Residual-based external torque estimation in series elastic actuators over a wide stiffness range: Frequency domain approach. IEEE Robotics and Automation Letters, 3(3), pp.1442-1449. (Chan Lee and Jinoh Lee are co-first author)
An, H.S., Lee, J.H., Lee, C., Seo, T. and Lee, J.W., 2017. Geometrical kinematic solution of serial spatial manipulators using screw theory. Mechanism and Machine Theory, 116, pp.404-418.
Lee, C., Kwak, S., Kwak, J. and Oh, S., 2017, September. Generalization of series elastic actuator configurations and dynamic behavior comparison. Actuators (Vol. 6, No. 3, p. 26). Multi disciplinary Digital Publishing Institute.
Lee, C., Lee, J.H., Seo, T. and Lee, J.W., 2016. Geometrical kinematic and static analyses of planar manipulators using a barycentric formula. Mechanism and Machine Theory, 97, pp.72-84.
International Conference
Lee, C. and Oh, S., 2020, May. Optimal Landing Strategy for Two-mass Hopping Leg with Natural Dynamics. In 2020 IEEE International Conference on Robotics and Automation (ICRA).
Lee, C., Bae, S., Kan,g W., and Oh, S Transparent Torque Sensor-less Impedance Rendering for Low-cost Direct Drive Motor. In 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC). IEEE.
Lee, C. and Oh, S., 2019 October. High Fidelity Impedance Control of Series Elastic Actuator for Physical Human-machine Interaction. In 2019-45th Annual Conference of the IEEE Industrial Electronics Society (IECON). (IEEE-IES Young Professionals and Students Award)
Bae, S., Yun, W., Lee, C. and Oh, S., 2019, March. Realization of Robot Aided Isokinetic Exercise using Exercise-as-desired Control. In IEEE 2019 International Conference on Mechatronics.
Lee, C. and Oh, S., 2018, October. Dynamic Dumbbell-Novel Muscle Training Robot with Programmable Exercise Load. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-9).
Lee, C., Lee, J., Tsagarakis, N. and Oh, S., 2018, May. Residual-based external torque estimation in series elastic actuators over a wide stiffness range: Frequency domain approach. In 2018 IEEE International Conference on Robotics and Automation (ICRA).
Jung, H., Lee, C. and Oh, S., 2018, May. Bandwidth Limitations in Force Control of a Series Elastic Actuator with Backlash and Quantization. In 2018 International Power Electronics Conference (IPEC) (pp. 688-692).
Lee, C. and Oh, S., 2018, March. Integrated transmission force estimation method for series elastic actuators. In 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC) (pp. 681-686).
Lee, C., Lee, J., Malzahn, J., Tsagarakis, N. and Oh, S., 2017, November. A two-staged residual for resilient external torque estimation with series elastic actuators. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) (pp. 817-823).
Lee, C. and Oh, S., 2017, July. Robust assistive force control of leg rehabilitation robot. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 634-638).
Lee, C. and Oh, S., 2017, May. Interactive force control of an elastically actuated bi-articular two-link manipulator. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2917-2922).
Kwak, J., Lee, C., Kim, J., Kim, S. and Oh, S., 2017, May. Wire-tension control using compact planetary geared elastic actuator. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3684-3689).
Lee, C. and Oh, S., 2016, October. Configuration and performance analysis of a compact planetary geared elastic actuator. In IECON 2016-42nd Annual Conference of the IEEE Industrial Electronics Society (pp. 6391-6396).
Lee, C., Choi, W. and Oh, S., 2016, April. Maximum torque generation of SEA under velocity control. In 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)(pp. 16-23).
Oh, S., Lee, C. and Kong, K., 2015, November. Force control and force observer design of series elastic actuator based on its dynamic characteristics. In 2015-41st Annual Conference of the IEEE Industrial Electronics Society (IECON) (pp. 004639-004644). (Best Presentation Award)
Lee, C., Lee, J.W. and Seo, T., 2015, August. Geometrical Kinematic Analysis of a Planar Serial Manipulator Using a Barycentric Formula. In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (pp. V05BT08A059-V05BT08A059). American Society of Mechanical Engineers.
Choi, J.H., Lee, C., Kim, M.E. and Lee, J., 2013, October. Singularity analysis of a 5-bar planar parallel mechanism based on a geometric measures. In IEEE ISR 2013 (pp. 1-3).