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KAIST Professor Jee-Hwan Ryu Receives Global IEEE Robotics Journal Best Paper Award
- Professor Jee-Hwan Ryu of Civil and Environmental Engineering receives the Best Paper Award from the Institute of Electrical and Electronics Engineers (IEEE) Robotics Journal, officially presented at ICRA, a world-renowned robotics conference.
- This is the highest level of international recognition, awarded to only the top 5 papers out of approximately 1,500 published in 2024.
- Securing a new working channel technology for soft growing robots expands the practicality and application possibilities in the field of soft robotics.
< Professor Jee-Hwan Ryu (left), Nam Gyun Kim, Ph.D. Candidate (right) from the KAIST Department of Civil and Environmental Engineering and KAIST Robotics Program >
KAIST (President Kwang-Hyung Lee) announced on the 6th that Professor Jee-Hwan Ryu from the Department of Civil and Environmental Engineering received the 2024 Best Paper Award from the Robotics and Automation Letters (RA-L), a premier journal under the IEEE, at the '2025 IEEE International Conference on Robotics and Automation (ICRA)' held in Atlanta, USA, on May 22nd.
This Best Paper Award is a prestigious honor presented to only the top 5 papers out of approximately 1,500 published in 2024, boasting high international competition and authority.
The award-winning paper by Professor Ryu proposes a novel working channel securing mechanism that significantly expands the practicality and application possibilities of 'Soft Growing Robots,' which are based on soft materials that move or perform tasks through a growing motion similar to plant roots.
< IEEE Robotics Journal Award Ceremony >
Existing soft growing robots move by inflating or contracting their bodies through increasing or decreasing internal pressure, which can lead to blockages in their internal passages. In contrast, the newly developed soft growing robot achieves a growing function while maintaining the internal passage pressure equal to the external atmospheric pressure, thereby successfully securing an internal passage while retaining the robot's flexible and soft characteristics.
This structure allows various materials or tools to be freely delivered through the internal passage (working channel) within the robot and offers the advantage of performing multi-purpose tasks by flexibly replacing equipment according to the working environment.
The research team fabricated a prototype to prove the effectiveness of this technology and verified its performance through various experiments. Specifically, in the slide plate experiment, they confirmed whether materials or equipment could pass through the robot's internal channel without obstruction, and in the pipe pulling experiment, they verified if a long pipe-shaped tool could be pulled through the internal channel.
< Figure 1. Overall hardware structure of the proposed soft growing robot (left) and a cross-sectional view composing the inflatable structure (right) >
Experimental results demonstrated that the internal channel remained stable even while the robot was growing, serving as a key basis for supporting the technology's practicality and scalability.
Professor Jee-Hwan Ryu stated, "This award is very meaningful as it signifies the global recognition of Korea's robotics technology and academic achievements. Especially, it holds great significance in achieving technical progress that can greatly expand the practicality and application fields of soft growing robots. This achievement was possible thanks to the dedication and collaboration of the research team, and I will continue to contribute to the development of robotics technology through innovative research."
< Figure 2. Material supplying mechanism of the Soft Growing Robot >
This research was co-authored by Dongoh Seo, Ph.D. Candidate in Civil and Environmental Engineering, and Nam Gyun Kim, Ph.D. Candidate in Robotics. It was published in IEEE Robotics and Automation Letters on September 1, 2024.
(Paper Title: Inflatable-Structure-Based Working-Channel Securing Mechanism for Soft Growing Robots, DOI: 10.1109/LRA.2024.3426322)
This project was supported simultaneously by the National Research Foundation of Korea's Future Promising Convergence Technology Pioneer Research Project and Mid-career Researcher Project.
2025.06.09 View 10810 -
KAIST develops an artificial muscle device that produces force 34 times its weight
- Professor IlKwon Oh’s research team in KAIST’s Department of Mechanical Engineering developed a soft fluidic switch using an ionic polymer artificial muscle that runs with ultra-low power to lift objects 34 times greater than its weight.
- Its light weight and small size make it applicable to various industrial fields such as soft electronics, smart textiles, and biomedical devices by controlling fluid flow with high precision, even in narrow spaces.
Soft robots, medical devices, and wearable devices have permeated our daily lives. KAIST researchers have developed a fluid switch using ionic polymer artificial muscles that operates at ultra-low power and produces a force 34 times greater than its weight. Fluid switches control fluid flow, causing the fluid to flow in a specific direction to invoke various movements.
KAIST (President Kwang-Hyung Lee) announced on the 4th of January that a research team under Professor IlKwon Oh from the Department of Mechanical Engineering has developed a soft fluidic switch that operates at ultra-low voltage and can be used in narrow spaces.
Artificial muscles imitate human muscles and provide flexible and natural movements compared to traditional motors, making them one of the basic elements used in soft robots, medical devices, and wearable devices. These artificial muscles create movements in response to external stimuli such as electricity, air pressure, and temperature changes, and in order to utilize artificial muscles, it is important to control these movements precisely.
Switches based on existing motors were difficult to use within limited spaces due to their rigidity and large size. In order to address these issues, the research team developed an electro-ionic soft actuator that can control fluid flow while producing large amounts of force, even in a narrow pipe, and used it as a soft fluidic switch.
< Figure 1. The separation of fluid droplets using a soft fluid switch at ultra-low voltage. >
The ionic polymer artificial muscle developed by the research team is composed of metal electrodes and ionic polymers, and it generates force and movement in response to electricity. A polysulfonated covalent organic framework (pS-COF) made by combining organic molecules on the surface of the artificial muscle electrode was used to generate an impressive amount of force relative to its weight with ultra-low power (~0.01V).
As a result, the artificial muscle, which was manufactured to be as thin as a hair with a thickness of 180 µm, produced a force more than 34 times greater than its light weight of 10 mg to initiate smooth movement. Through this, the research team was able to precisely control the direction of fluid flow with low power.
< Figure 2. The synthesis and use of pS-COF as a common electrode-electrolyte host for electroactive soft fluid switches. A) The synthesis schematic of pS-COF. B) The schematic diagram of the operating principle of the electrochemical soft switch. C) The schematic diagram of using a pS-COF-based electrochemical soft switch to control fluid flow in dynamic operation. >
Professor IlKwon Oh, who led this research, said, “The electrochemical soft fluidic switch that operate at ultra-low power can open up many possibilities in the fields of soft robots, soft electronics, and microfluidics based on fluid control.” He added, “From smart fibers to biomedical devices, this technology has the potential to be immediately put to use in a variety of industrial settings as it can be easily applied to ultra-small electronic systems in our daily lives.”
The results of this study, in which Dr. Manmatha Mahato, a research professor in the Department of Mechanical Engineering at KAIST, participated as the first author, were published in the international academic journal Science Advances on December 13, 2023. (Paper title: Polysulfonated Covalent Organic Framework as Active Electrode Host for Mobile Cation Guests in Electrochemical Soft Actuator)
This research was conducted with support from the National Research Foundation of Korea's Leader Scientist Support Project (Creative Research Group) and Future Convergence Pioneer Project.
* Paper DOI: https://www.science.org/doi/abs/10.1126/sciadv.adk9752
2024.01.11 View 16971 -
Wearable Strain Sensor Using Light Transmittance Helps Measure Physical Signals Better
KAIST researchers have developed a novel wearable strain sensor based on the modulation of optical transmittance of a carbon nanotube (CNT)-embedded elastomer. The sensor is capable of sensitive, stable, and continuous measurement of physical signals. This technology, featured in the March 4th issue of ACS Applied Materials & Interfaces as a front cover article, shows great potential for the detection of subtle human motions and the real-time monitoring of body postures for healthcare applications.
A wearable strain sensor must have high sensitivity, flexibility, and stretchability, as well as low cost. Those used especially for health monitoring should also be tied to long-term solid performance, and be environmentally stable. Various stretchable strain sensors based on piezo-resistive and capacitive principles have been developed to meet all these requirements.
Conventional piezo-resistive strain sensors using functional nanomaterials, including CNTs as the most common example, have shown high sensitivity and great sensing performance. However, they suffer from poor long-term stability and linearity, as well as considerable signal hysteresis. As an alternative, piezo-capacitive strain sensors with better stability, lower hysteresis, and higher stretchability have been suggested. But due to the fact that piezo-capacitive strain sensors exhibit limited sensitivity and strong electromagnetic interference caused by the conductive objects in the surrounding environment, these conventional stretchable strain sensors are still facing limitations that are yet to be resolved.
A KAIST research team led by Professor Inkyu Park from the Department of Mechanical Engineering suggested that an optical-type stretchable strain sensor can be a good alternative to resolve the limitations of conventional piezo-resistive and piezo-capacitive strain sensors, because they have high stability and are less affected by environmental disturbances. The team then introduced an optical wearable strain sensor based on the light transmittance changes of a CNT-embedded elastomer, which further addresses the low sensitivity problem of conventional optical stretchable strain sensors.
In order to achieve a large dynamic range for the sensor, Professor Park and his researchers chose Ecoflex as an elastomeric substrate with good mechanical durability, flexibility, and attachability on human skin, and the new optical wearable strain sensor developed by the research group actually shows a wide dynamic range of 0 to 400%.
In addition, the researchers propagated the microcracks under tensile strain within the film of multi-walled CNTs embedded in the Ecoflex substrate, changing the optical transmittance of the film. By doing so, it was possible for them to develop a wearable strain sensor having a sensitivity 10 times higher than conventional optical stretchable strain sensors.
The proposed sensor has also passed the durability test with excellent results. The sensor’s response after 13,000 sets of cyclic loading was stable without any noticeable drift. This suggests that the sensor response can be used without degradation, even if the sensor is repeatedly used for a long time and in various environmental conditions.
Using the developed sensor, the research team could measure the finger bending motion and used it for robot control. They also developed a three-axes sensor array for body posture monitoring. The sensor was able to monitor human motions with small strains such as a pulse near the carotid artery and muscle movement around the mouth during pronunciation.
Professor Park said, “In this study, our group developed a new wearable strain sensor platform that overcomes many limitations of previously developed resistive, capacitive, and optical-type stretchable strain sensors. Our sensor could be widely used in a variety of fields including soft robotics, wearable electronics, electronic skin, healthcare, and even entertainment.”
This work was supported by the National Research Foundation (NRF) of Korea.
Publication:
Jimin Gu, Donguk Kwon, Junseong Ahn, and Inkyu Park. (2020) “Wearable Strain sensors Using Light Transmittance Change of Carbon Nanotube-Embedded Elastomers with Microcracks” ACS Applied Materials & Interfaces. Volume 12. Issue 9. Available online at https://doi.org/10.1021/acsami.9b18069
Profile:
Inkyu Park
Professor
inkyu@kaist.ac.kr
http://mintlab1.kaist.ac.kr
Micro/Nano Transducers Laboratory (MINT Lab)
Department of Mechanical Engineering (ME)Korea Advanced Institute of Science and Technology (KAIST)
Profile:
Jimin Gu
Ph.D. Candidate
mint9411@kaist.ac.kr
http://mintlab1.kaist.ac.kr
MINT Lab
KAIST ME
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2020.03.20 View 30686 -
Artificial Muscles Bloom, Dance, and Wave
Wearing a flower brooch that blooms before your eyes sounds like magic. KAIST researchers have made it real with robotic muscles.
Researchers have developed an ultrathin, artificial muscle for soft robotics. The advancement, recently reported in the journal Science Robotics, was demonstrated with a robotic blooming flower brooch, dancing robotic butterflies and fluttering tree leaves on a kinetic art piece.
The robotic equivalent of a muscle that can move is called an actuator. The actuator expands, contracts or rotates like muscle fibers using a stimulus such as electricity. Engineers around the world are striving to develop more dynamic actuators that respond quickly, can bend without breaking, and are very durable. Soft, robotic muscles could have a wide variety of applications, from wearable electronics to advanced prosthetics.
The team from KAIST’s Creative Research Initiative Center for Functionally Antagonistic Nano-Engineering developed a very thin, responsive, flexible and durable artificial muscle. The actuator looks like a skinny strip of paper about an inch long. They used a particular type of material called MXene, which is class of compounds that have layers only a few atoms thick.
Their chosen MXene material (T3C2Tx) is made of thin layers of titanium and carbon compounds. It was not flexible by itself; sheets of material would flake off the actuator when bent in a loop. That changed when the MXene was “ionically cross-linked” — connected through an ionic bond — to a synthetic polymer. The combination of materials made the actuator flexible, while still maintaining strength and conductivity, which is critical for movements driven by electricity.
Their particular combination performed better than others reported. Their actuator responded very quickly to low voltage, and lasted for more than five hours moving continuously.
To prove the tiny robotic muscle works, the team incorporated the actuator into wearable art: an origami-inspired brooch mimics how a narcissus flower unfolds its petals when a small amount of electricity is applied. They also designed robotic butterflies that move their wings up and down, and made the leaves of a tree sculpture flutter.
“Wearable robotics and kinetic art demonstrate how robotic muscles can have fun and beautiful applications,” said Il-Kwon Oh, lead paper author and professor of mechanical engineering. “It also shows the enormous potential for small, artificial muscles for a variety of uses, such as haptic feedback systems and active biomedical devices.”
The team next plans to investigate more practical applications of MXene-based soft actuators and other engineering applications of MXene 2D nanomaterials.
2019.08.22 View 30398