@article{Lee_2026, title={Posture Stabilization Control Framework for Lower Extremity Exoskeletons Operation in Protective-mission-oriented Tasks}, volume={32}, ISSN={2233-4335}, url={http://dx.doi.org/10.5302/J.ICROS.2026.25.0279}, DOI={10.5302/j.icros.2026.25.0279}, number={1}, journal={Journal of Institute of Control, Robotics and Systems}, publisher={Institute of Control, Robotics and Systems}, author={Lee, Dong-gyu and Kim, Hoei-Jin and Choi, Yushin and Ha, Seongmin and No, Joonkyu and Hwang, Soonwoong and Ryu, Jae-kwan and Kim, Wansoo}, year={2026}, month=Jan, pages={75–81} }

@inproceedings{Kwon_KRoC2026,
  title={Joint-state-aware Base Manipulability Optimization for Whole-Body Control of Quadruped Manipulator Systems},
  author={Kwon, Geunwoo and Lee, Dong-gyu and Hwang, Soonwoong and Kim, Wansoo},
  booktitle={Proceedings of the 21st Korea Robotics Society Annual Conference (KRoC 2026)},
  year={2026},
  month=Feb,
  address={Seoul, Korea}
}

@inproceedings{Lee_KRoC2026,
  title={A Dual-Arm Robot Teleoperation Framework for High-Quality Demonstration Data Collection in Imitation Learning},
  author={Lee, Jungsoo and Kim, Jeongmok and Choi, Sooin and Kim, Taewoo and Kim, Donghyung and Hwang, Soonwoong and Kim, Wansoo},
  booktitle={Proceedings of the 21st Korea Robotics Society Annual Conference (KRoC 2026)},
  year={2026},
  month=Feb,
  address={Seoul, Korea}
}

@inproceedings{li2025design,
  title={Design of a Rope-Driven Finger Exoskeleton System with a Universal Double Grooved Roller for Adaptive Rehabilitation},
  author={Li, Wenqi and Bao, Le and Kim, Wansoo},
  booktitle={2025 International Conference On Rehabilitation Robotics (ICORR)},
  pages={289--294},
  year={2025},
  organization={IEEE}
}

@article{li2025geo,
  title={Geo-LSTM: A Geometry and Temporal Feature Fusion Algorithm for Multi-Sensor 3D Localization},
  author={Li, Kai and Bao, Le and Kim, Wansoo},
  journal={IEEE Robotics and Automation Letters},
  number={99},
  pages={1--8},
  year={2025},
  publisher={IEEE}
}

% ── 2026-05-12: re-appended after reverting an accidental bibtexparser-style reformat ──

@article{Choi_20252, title={Whole-Body Control for Balancing an Articulated Legged-Arm Robot with the Integration of Momentum Management and a Passively Connected Unknown Object}, volume={20}, ISSN={2287-3961}, url={http://dx.doi.org/10.7746/jkros.2025.20.1.112}, DOI={10.7746/jkros.2025.20.1.112}, number={1}, journal={Journal of Korea Robotics Society}, publisher={The Korea Robotics Society}, author={Choi, Yushin and Jang, Jaepil and Ha, Seongmin and Hwang, Soonwoong and Kim, Wansoo}, year={2025}, month=Feb, pages={112–119} }

@article{Hwang_2025, title={Nonlinear Optimization-based Real-time Trajectory Planning for Cooperative Transport of Heterogeneous Mobile Manipulators}, volume={31}, ISSN={2233-4335}, url={http://dx.doi.org/10.5302/J.ICROS.2025.25.0117}, DOI={10.5302/j.icros.2025.25.0117}, number={8}, journal={Journal of Institute of Control, Robotics and Systems}, publisher={Institute of Control, Robotics and Systems}, author={Hwang, Seokhwan and Oh, Jihwan and Lee, Jungsoo and Hwang, Soonwoong and Kim, Wansoo}, year={2025}, month=Aug, pages={914–920} }

@article{Kim_2025, title={Development of a Terrain-specific Modified Gait Index Using the AnyBody Modeling System}, volume={31}, ISSN={2233-4335}, url={http://dx.doi.org/10.5302/J.ICROS.2025.25.0116}, DOI={10.5302/j.icros.2025.25.0116}, number={8}, journal={Journal of Institute of Control, Robotics and Systems}, publisher={Institute of Control, Robotics and Systems}, author={Kim, Yoon-Seo and Ha, Seong-Min and No, Joon-Kyu and Hwang, Soonwoong and Kim, Wansoo}, year={2025}, month=Aug, pages={900–905} }

@inproceedings{Choi_2025, title={Stable Variable Impedance Control via CLF-MPC for Physical Human-Robot Interaction}, url={http://dx.doi.org/10.1109/IROS60139.2025.11247511}, DOI={10.1109/iros60139.2025.11247511}, booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher={IEEE}, author={Choi, Seungmin and Hwang, Soonwoong and Kim, Wansoo}, year={2025}, month=Oct, pages={14750–14757} }

@inproceedings{Ha_2025, title={Pelvic IMU-Based Gait Phase Classification using Kernel-Embedded ELM: A Preliminary Validation Framework for Future Hemiplegic Gait Applications}, url={http://dx.doi.org/10.23919/iccas66577.2025.11301309}, DOI={10.23919/iccas66577.2025.11301309}, booktitle={2025 25th International Conference on Control, Automation and Systems (ICCAS)}, publisher={IEEE}, author={Ha, Seongmin and Lee, Jungsoo and No, Joonkyu and Hwang, Soonwoong and Kim, Wansoo}, year={2025}, month=Nov, pages={395–400} }

@inproceedings{Lee_2025, title={Proactive Ergonomic Human Motion Generation for Human-Humanoid Collaboration}, url={http://dx.doi.org/10.1109/HUMANOIDS65713.2025.11203025}, DOI={10.1109/humanoids65713.2025.11203025}, booktitle={2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)}, publisher={IEEE}, author={Lee, Dong-gyu and Hwang, Seunghoon and Choi, Seungmin and Kim, Yoonseo and Kim, Wansoo}, year={2025}, month=Sept, pages={523–530} }

@inproceedings{Choi_ICROS2025,
  title={An Asymmetric Hybrid Planning Framework Based on CBF-NMPC for Mutual Collision Avoidance in Dual-Arm Robots under Dynamic Environments},
  author={Choi, Seungmin and Hwang, Soonwoong and Kim, Kyungmin and Kim, Wansoo},
  booktitle={Proceedings of ICROS 2025 (Annual Conference of the Institute of Control, Robotics and Systems)},
  year={2025},
  month=June,
  address={Jeonju, Korea}
}

@inproceedings{Lee_ICROS2025a,
  title={An Efficient Robot Control Framework Using the Model Context Protocol},
  author={Lee, Jungsoo and Hwang, Seokhwan and Kwon, Geunwoo and Kim, Wansoo},
  booktitle={Proceedings of ICROS 2025 (Annual Conference of the Institute of Control, Robotics and Systems)},
  year={2025},
  month=June,
  address={Jeonju, Korea}
}

@inproceedings{Lee_ICROS2025b,
  title={Design of a Robotic Manipulation Information Model and Simulation for Indoor Digital Twin Construction},
  author={Lee, Jungsoo and Kwon, Geunwoo and Yu, Wonpil and Hwang, Soonwoong and Kim, Wansoo},
  booktitle={Proceedings of ICROS 2025 (Annual Conference of the Institute of Control, Robotics and Systems)},
  year={2025},
  month=June,
  address={Jeonju, Korea}
}

% ── 2026-05-13: KRoC 2026 (제21회 한국로봇학회 학술발표대회, 2026-02-04~06, 서울) — DOI 없음, 수동 등재 ──

@article{bao2024enhanced,
  title={An enhanced indoor three-dimensional localization system with sensor fusion based on ultra-wideband ranging and dual barometer altimetry},
  author={Bao, Le and Li, Kai and Lee, Joosun and Dong, Wenbin and Li, Wenqi and Shin, Kyoosik and Kim, Wansoo},
  journal={Sensors},
  volume={24},
  number={11},
  pages={3341},
  year={2024},
  publisher={MDPI}
}

@article{lee2024collision,
  title={Collision-Free Target Grasping in Complex and Cluttered Environment for Efficient Task and Motion Planning},
  author={Lee, Joosun and Lim, Taeyhang and Bao, Le and Kim, Wansoo},
  journal={IEEE Access},
  year={2024},
  publisher={IEEE}
}

@inproceedings{kim2024intuitive,
  title={An Intuitive Framework to Minimize Cognitive Load in Robotic Control: A Comparative Evaluation of Body Parts},
  author={Kim, Joonhyun and Lee, Jungsoo and Kim, Wansoo},
  booktitle={2024 21st International Conference on Ubiquitous Robots (UR)},
  pages={35--38},
  year={2024},
  organization={IEEE}
}

@article{shin2024twisted,
  title={Twisted String Actuator mechanism with adjustable offset of strings for continuous variable transmission system},
  author={Shin, Dongcheol and Kang, Brian Byunghyun and Kim, Wansoo},
  journal={Mechatronics},
  volume={102},
  pages={103227},
  year={2024},
  publisher={Elsevier}
}

@inproceedings{kim2024transferable,
  title={Transferable Convolutional Neural Networks for IMU-based Motion Gesture Recognition in Human-Machine Interaction},
  author={Kim, Joonhyun and Lee, Jungsoo and Kim, Wansoo},
  booktitle={2024 24th International Conference on Control, Automation and Systems (ICCAS)},
  pages={61--66},
  year={2024},
  organization={IEEE}
}

@inproceedings{bao2024dual,
  title={Dual UWB Anchors-Based Target Tracking Strategy for an Omnidirectional Mobile Robot},
  author={Bao, Le and Li, Kai and Dong, Wenbin and Li, Wenqi and Shin, Kyoosik and Han, Changsoo and Kim, Wansoo},
  booktitle={2024 24th International Conference on Control, Automation and Systems (ICCAS)},
  pages={916--921},
  year={2024},
  organization={IEEE}
}

@article{choi2024multi,
  title={A Multi-Task Energy-Aware Impedance Controller for Enhanced Safety in Physical Human-Robot Interaction},
  author={Choi, Seungmin and Ha, Seongmin and Kim, Wansoo},
  journal={IEEE Robotics and Automation Letters},
  year={2024},
  publisher={IEEE}
}

@ARTICLE{10115505,
  author={Mobedi, Emir and Kim, Wansoo and Leonori, Mattia and Tsagarakis, Nikos G. and Ajoudani, Arash},
  journal={IEEE/ASME Transactions on Mechatronics}, 
  title={Design and Control of an Assistive Device for Elbow Effort-Compensation}, 
  year={2023},
  volume={},
  number={},
  pages={1-12},
  doi={10.1109/TMECH.2023.3267681}}

@INPROCEEDINGS{10121975,
  author={Ham, Seoyeon and Kang, Brian Byunghyun and Abishek, Kevin and Lee, Hyunglae and Kim, Wansoo},
  booktitle={2023 IEEE International Conference on Soft Robotics (RoboSoft)}, 
  title={Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism}, 
  year={2023},
  volume={},
  number={},
  pages={1-6},
  doi={10.1109/RoboSoft55895.2023.10121975}}

@ARTICLE{10143312,
  author={Mobedi, Emir and Hjorth, Sebastian and Kim, Wansoo and De Momi, Elena and Tsagarakis, Nikos G. and Ajoudani, Arash},
  journal={IEEE Robotics and Automation Letters}, 
  title={A Power-Aware Control Strategy for an Elbow Effort-Compensation Device}, 
  year={2023},
  volume={8},
  number={7},
  pages={4330-4337},
  doi={10.1109/LRA.2023.3282385}}

@article{ham2023design,
  title={Design and Validation of Soft Sliding Structure With Adjustable Stiffness for Ankle Sprain Prevention},
  author={Ham, Seoyeon and Paing, Soe Lin and Kang, Brian Byunghyun and Lee, Hyunglae and Kim, Wansoo},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}

@ARTICLE{Bao2023,
  author={Bao, Le and Li, Kai and Han, Changsoo and Shin, Kyoosik and Kim, Wansoo},
  journal={International Journal of Control, Automation and Systems}, 
  title={Adaptive Online Steering Efficiency Coefficient Estimation for Enhanced Terrain Motion Control in Four-wheeled Skid-steering Mobile Robots}, 
  year={2023},
  volume={21},
  number={8},
  pages={2444-2454},
  doi={10.1007/s12555-023-0194-0}}

@inproceedings{kim2023multitask,
  title={Multitask Learning for Multiple Recognition Tasks: A Framework for Lower-limb Exoskeleton Robot Applications},
  author={Kim, Joonhyun and Ha, Seongmin and Shin, Dongbin and Ham, Seoyeon and Jang, Jaepil and Kim, Wansoo},
  booktitle={2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages={1530--1536},
  year={2023},
  organization={IEEE}
}

@inproceedings{lee2023investigating,
  title={Investigating the Usability of Collaborative Robot Control Through Hands-Free Operation Using Eye Gaze and Augmented Reality},
  author={Lee, Joosun and Lim, Taeyhang and Kim, Wansoo},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4101--4106},
  year={2023},
  organization={IEEE}
}

@inproceedings{kim2023multitask,
  title={Multitask Learning for Multiple Recognition Tasks: A Framework for Lower-limb Exoskeleton Robot Applications},
  author={Kim, Joonhyun and Ha, Seongmin and Shin, Dongbin and Ham, Seoyeon and Jang, Jaepil and Kim, Wansoo},
  booktitle={2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages={1530--1536},
  year={2023},
  organization={IEEE}
}

@inproceedings{lee2023investigating,
  title={Investigating the usability of collaborative robot control through hands-free operation using eye gaze and augmented reality},
  author={Lee, Joosun and Lim, Taeyhang and Kim, Wansoo},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4101--4106},
  year={2023},
  organization={IEEE}
}

@article{ham2023design,
  title={Design and Validation of Soft Sliding Structure with Adjustable Stiffness for Ankle Sprain Prevention},
  author={Ham, Seoyeon and Paing, Soe Lin and Kang, Brian Byunghyun and Lee, Hyunglae and Kim, Wansoo},
  journal={IEEE robotics and automation letters},
  volume={9},
  number={2},
  pages={947--954},
  year={2023},
  publisher={IEEE}
}

@inproceedings{Lim_2023, title={Towards Natural and Intuitive Human-Robot Collaboration based on Goal-Oriented Human Gaze Intention Recognition}, url={http://dx.doi.org/10.1109/irc59093.2023.00027}, DOI={10.1109/irc59093.2023.00027}, booktitle={2023 Seventh IEEE International Conference on Robotic Computing (IRC)}, publisher={IEEE}, author={Lim, Taeyhang and Lee, Joosun and Kim, Wansoo}, year={2023}, month=Dec, pages={115–120} }

% ── 2026-05-12: domestic-conference papers recovered from archive/ (were not in CV; no DOI/UCI → manual entry) ──

@inproceedings{Shin_2023,
  title={Development of the TSA Capable of Expanding the Range of Stiffness Changes through Variation of the Gap of the Strings},
  author={Shin, Dongchul and Kang, Brian Byunghyun and Kim, Wansoo},
  booktitle={Proceedings of the KSPE 2023 Spring Conference (Korean Society for Precision Engineering)},
  year={2023},
  month=May,
  address={Korea},
  note={Paper No. 23SOP03-013, Robot Control and Automation session}
}

@inproceedings{Jang_2023,
  title={Real-time Virtual Reality Fusion Remote Control Architecture for a Sense of Presence},
  author={Jang, Jaepil and Choi, Seungmin and Choi, Yushin and Lee, Jungsoo and Hwang, Soonwoong and Kim, Wansoo},
  booktitle={Proceedings of the KSPE 2023 Autumn Conference (Korean Society for Precision Engineering)},
  year={2023},
  month=Nov,
  address={Korea},
  note={Paper No. 23APP03-048, Robot Control and Automation session}
}

@ARTICLE{9674843,
  author={Lorenzini, Marta and Kim, Wansoo and Ajoudani, Arash},
  journal={IEEE Transactions on Human-Machine Systems}, 
  title={An Online Multi-Index Approach to Human Ergonomics Assessment in the Workplace}, 
  year={2022},
  volume={},
  number={},
  pages={1-12},
  doi={10.1109/THMS.2021.3133807}}

@INPROCEEDINGS{9826288,
  author={Bao, Le and Li, Kai and Li, Wenqi and Shin, Kyoosik and Kim, Wansoo},
  booktitle={2022 19th International Conference on Ubiquitous Robots (UR)}, 
  title={A Sensor Fusion Strategy for Indoor Target Three-dimensional Localization based on Ultra-Wideband and Barometric Altimeter Measurements}, 
  year={2022},
  volume={},
  number={},
  pages={181-187},
  doi={10.1109/UR55393.2022.9826288}}

@INPROCEEDINGS{9925341,
  author={Ham, Seoyeon and Kang, Brian Byunghyun and Kim, Jihoo and Hwang, Seunghoon and Kim, Wansoo},
  booktitle={2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, 
  title={Development of soft variable stiffness actuator with tendon-driven layer jamming mechanism}, 
  year={2022},
  volume={},
  number={},
  pages={1-6},
  doi={10.1109/BioRob52689.2022.9925341}}
  

@INPROCEEDINGS{9925563,
  author={Lorenzini, Marta and Gandarias, Juan M. and Fortini, Luca and Kim, Wansoo and Ajoudani, Arash},
  booktitle={2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, 
  title={ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking}, 
  year={2022},
  volume={},
  number={},
  pages={01-06},
  doi={10.1109/BioRob52689.2022.9925563}}

@article{IODICE2022102807,
title = {Learning cooperative dynamic manipulation skills from human demonstration videos},
journal = {Mechatronics},
volume = {85},
pages = {102807},
year = {2022},
issn = {0957-4158},
doi = {https://doi.org/10.1016/j.mechatronics.2022.102807},
author = {Francesco Iodice and Yuqiang Wu and Wansoo Kim and Fei Zhao and Elena {De Momi} and Arash Ajoudani},
keywords = {Transfer learning, Multi-agent systems, 3D pose estimation, Visual imitation, Human action},
}

@article{hwang2022development,
  title={Development of a Prototype Overground Pelvic Obliquity Support Robot for Rehabilitation of Hemiplegia Gait},
  author={Hwang, Seunghoon and Lee, Seungchan and Shin, Dongbin and Baek, Inhyuk and Ham, Seoyeon and Kim, Wansoo},
  journal={Sensors},
  volume={22},
  number={7},
  pages={2462},
  year={2022},
  publisher={MDPI},
  doi={10.3390/s22072462}
}

@inproceedings{kapteijn2022multi,
  title={A Multi-metric Modular Framework for Human-like Gait Analysis Based on a Recorded Set of Variable Gait Patterns},
  author={Kapteijn, Stephan and Kim, Wansoo and Marchal-Crespo, Laura and Peternel, Luka},
  booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
  pages={53--59},
  year={2022},
  doi = {10.1109/Humanoids53995.2022.10000194},
  organization={IEEE}
}

@inproceedings{li2022imu,
  title={IMU-based Online Kinematic Model Parameter Estimation for Four-Wheeled Skid-Steering Mobile Robot Desired Motion Tracking on Different Terrains},
  author={Li, Kai and Bao, Le and Han, Changsoo and Shin, Kyoosik and Kim, Wansoo},
  booktitle={2022 22nd International Conference on Control, Automation and Systems (ICCAS)},
  pages={950--954},
  year={2022},
  doi = {10.23919/ICCAS55662.2022.10003946},
  organization={IEEE}
}

@inproceedings{Kim_2022,
  title={Development of the IMU Sensor Based GAIT Phase Detection Algorithm that is Robust to Changes in Terrain and Walking Speed},
  author={Kim, Junhyun and Jang, Jaepil and Shin, Dongbin and Kim, Wansoo},
  booktitle={Proceedings of the KSPE 2022 Autumn Conference (Korean Society for Precision Engineering)},
  year={2022},
  month=Nov,
  address={Korea},
  note={Paper No. 22APP03-055, Robot Control and Automation session}
}

@ARTICLE{9502536,
  author={Ventura, Leonardo and Lorenzini, Marta and Kim, Wansoo and Ajoudani, Arash},
  journal={IEEE Robotics and Automation Letters}, 
  title={A Flexible Robotics-Inspired Computational Model of Compressive Loading on the Human Spine}, 
  year={2021},
  volume={6},
  number={4},
  pages={8229-8236},
  doi={10.1109/LRA.2021.3100936}}

@article{kim2021directional,
  title={A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment},
  author={Kim, Wansoo and Garate, Virginia Ruiz and Gandarias, Juan Manuel and Lorenzini, Marta and Ajoudani, Arash},
  journal={IEEE Transactions on Haptics},
  year={2021},
  publisher={IEEE},
  doi={10.1109/TOH.2021.3112795}
}

@article{wu2021unified,
  title={Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation},
  author={Wu, Yuqiang and Lamon, Edoardo and Zhao, Fei and Kim, Wansoo and Ajoudani, Arash},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={3505--3512},
  year={2021},
  doi = {10.1109/LRA.2021.3062316},
  publisher={IEEE}
}

@article{hwang2021gait,
  title={Gait pattern generation algorithm for lower-extremity rehabilitation--exoskeleton robot considering wearer’s condition},
  author={Hwang, Seung Hoon and Sun, Dong Ik and Han, Jeakweon and Kim, Wan-Soo},
  journal={Intelligent Service Robotics},
  pages={1--11},
  doi = {10.1007/s11370-020-00346-3},
  year={2021},
  publisher={Springer}
}

@article{KIM2021102084,
title = "A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools",
journal = "Robotics and Computer-Integrated Manufacturing",
volume = "68",
pages = "102084",
year = "2021",
issn = "0736-5845",
doi = "https://doi.org/10.1016/j.rcim.2020.102084",
author = "Wansoo Kim and Luka Peternel and Marta Lorenzini and Jan Babic and Arash Ajoudani",
keywords = "Human-Robot Interaction, Ergonomics, Human performance modelling, Industrial/organizational/workplace safety",
abstract = "In this work, we present a novel control approach to human-robot collaboration that takes into account ergonomic aspects of the human co-worker during power tool operations. The method is primarily based on estimating and reducing the overloading torques in the human joints that are induced by the manipulated external load. The human overloading joint torques are estimated and monitored using a whole-body dynamic state model. The appropriate robot motion that brings the human into the suitable ergonomic working configuration is obtained by an optimisation method that minimises the overloading joint torques. The proposed optimisation process includes several constraints, such as the human arm muscular manipulability and safety of the collaborative task, to achieve a task-relevant optimised configuration. We validated the proposed method by a user study that involved a human-robot collaboration task, where the subjects operated a polishing machine on a part that was brought to them by the collaborative robot. A statistical analysis of ten subjects as an experimental evaluation of the proposed control framework is provided to demonstrate the potential of the proposed control framework in enabling ergonomic and task-optimised human-robot collaboration."
}

In this work, we present a novel control approach to human-robot collaboration that takes into account ergonomic aspects of the human co-worker during power tool operations. The method is primarily based on estimating and reducing the overloading torques in the human joints that are induced by the manipulated external load. The human overloading joint torques are estimated and monitored using a whole-body dynamic state model. The appropriate robot motion that brings the human into the suitable ergonomic working configuration is obtained by an optimisation method that minimises the overloading joint torques. The proposed optimisation process includes several constraints, such as the human arm muscular manipulability and safety of the collaborative task, to achieve a task-relevant optimised configuration. We validated the proposed method by a user study that involved a human-robot collaboration task, where the subjects operated a polishing machine on a part that was brought to them by the collaborative robot. A statistical analysis of ten subjects as an experimental evaluation of the proposed control framework is provided to demonstrate the potential of the proposed control framework in enabling ergonomic and task-optimised human-robot collaboration.

@inproceedings{mobedi2021soft,
  title={A Soft Assistive Device for Elbow Effort-Compensation},
  author={Mobedi, Emir and Kim, Wansoo and De Momi, Elena and Tsagarakis, Nikos G and Ajoudani, Arash},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={9540--9547},
  year={2021},
  doi = {10.1109/IROS51168.2021.9636771},
  organization={IEEE}
}

@article{Wu2020intuitive,
  title={An Intuitive Formulation of the Human Arm Active Endpoint Stiffness},
  author={Wu, Yuqiang and Zhao, Fei and Kim, Wansoo and Ajoudani, Arash},
  journal={Sensors},
  volume={20},
  number={18},
  pages={5357},
  year={2020},
  doi = {10.3390/s20185357},
  publisher={Multidisciplinary Digital Publishing Institute}
}

@article{lorenzini2020online,
  title={An Online Method to Detect and Locate an External Load on the Human Body with Applications in Ergonomics Assessment},
  author={Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
  journal={Sensors},
  volume={20},
  number={16},
  pages={4471},
  year={2020},
  doi = {10.3390/s20164471},
  publisher={Multidisciplinary Digital Publishing Institute}
}

@article{kim2020development,
	title={Development of a Passive Modular Knee Mechanism for a Lower Limb Exoskeleton Robot and Its Effectiveness in the Workplace},
	author={Kim, Ho-Jun and Lim, Dong-Hwan and Kim, Wan-Soo and Han, Chang-Soo},
	journal={International Journal of Precision Engineering and Manufacturing},
	volume={21},
	number={2},
	pages={227--236},
	year={2020},
	doi = {10.1007/s12541-019-00217-7},
	publisher={Springer}
}

@inproceedings{kim2020moca,
  title={MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions},
  author={Kim, Wansoo and Balatti, Pietro and Lamon, Edoardo and Ajoudani, Arash},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={10191--10197},
  year={2020},
  doi = {10.1109/ICRA40945.2020.9197115},
  organization={IEEE}
}

@inproceedings{edoardo2020towards,
	title={Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing},
	author={Lamon, Edoardo and Lenori, Mattia and Kim, Wansoo and Ajoudani, Arash},
	booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
	pages={9128--9134},
	year={2020},
	doi = {10.1109/ICRA40945.2020.9196850},
    organization={IEEE}
}

@inproceedings{lamon2020visuo,
  title={A visuo-haptic guidance interface for mobile collaborative robotic assistant (MOCA)},
  author={Lamon, Edoardo and Fusaro, Fabio and Balatti, Pietro and Kim, Wansoo and Ajoudani, Arash},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={11253--11260},
  doi={10.1109/IROS45743.2020.9341357},
  year={2020},
  organization={IEEE}
}

@inproceedings{fortini2020framework,
  title={A Framework for Real-time and Personalisable Human Ergonomics Monitoring},
  author={Fortini, Luca and Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={11101--11107},
  doi={10.1109/IROS45743.2020.9341560},
  year={2020},
  organization={IEEE}
}

@article{wu2019teleoperation,
	title={A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant},
	author={Wu, Yuqiang and Balatti, Pietro and Lorenzini, Marta and Zhao, Fei and Kim, Wansoo and Ajoudani, Arash},
	journal={IEEE Robotics and Automation Letters},
	volume={4},
	number={4},
	pages={3593--3600},
	year={2019},
	publisher={IEEE},
	doi = {10.1109/LRA.2019.2928757},
	note={presented in IROS 2019}
}
% @article{kim2019ergonomicTHMS,
% 	title={A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools},
% 	author={Kim, Wansoo and Peternel, Luka and Lorenzini, Marta and Babic, Jan and Ajoudani, Arash},
% 	journal={Robotics and Computer-Integrated Manufacturing},
% 	volume={},
% 	number={},
% 	pages={},
% 	year={2020},
% 	publisher={IEEE},
% 	note={Under-review}
% }

@article{kim2019adaptable,
	title={Adaptable workstations for human-robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity},
	author={Kim, Wansoo and Lorenzini, Marta and Balatti, Pietro and Nguyen, Phuong DH and Pattacini, Ugo and Tikhanoff, Vadim and Peternel, Luka and Fantacci, Claudio and Natale, Lorenzo and Metta, Giorgio and Ajoudani, Arash},
	journal={IEEE Robotics \& Automation Magazine},
	volume={26},
	number={3},
	pages={14--26},
	year={2019},
	doi = {10.1109/MRA.2018.2890460},
	publisher={IEEE}
}

@article{kim2019development,
	title={Development of bulldozer sensor system for estimating the position of blade cutting edge},
	author={Kim, Sang-Ho and Lee, Yong-Seok and Sun, Dong-Ik and Lee, Sang-Keun and Yu, Bo-Hyun and Jang, Sung-Hoon and Kim, Wansoo and Han, Chang-Soo},
	journal={Automation in Construction},
	volume={106},
	pages={102890},
	year={2019},
	doi = {10.1016/j.autcon.2019.102890},
	publisher={Elsevier}
}

@inproceedings{wansoo2019towards,
	title={Towards Ergonomic Control of Collaborative Effort in Multi-human Mobile-robot Teams},
	author={Kim, Wansoo and Lorenzini, Marta and Balatti, Pietro and Wu, Yuqiang and Ajoudani, Arash},
	booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	pages={3005--3011},
	doi = {10.1109/IROS40897.2019.8967628},
	year={2019}
}

@inproceedings{lorenzini2019toward,
	title={Toward a Synergistic Framework for Human-Robot Coexistence and Collaboration (HRC2)},
	author={Lorenzini, Marta and Fusaro, Fabio and Balatti, Pietro and De Momi, Elena and Mastrogiovanni, Fulvio and Kim, Wansoo and Ajoudani, Arash},
	booktitle={Institute for Robotics and Intelligent Machines Conference (I-RIM)},
	pages={N--A},
	url = {http://hdl.handle.net/11311/1119859},
	year={2019}
}

@inproceedings{lorenzini2019fatigue,
	title={A New Overloading Fatigue Model for Ergonomic Risk Assessment with Application to Human-Robot Collaboration},
	author={Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
	booktitle={2019 International Conference on Robotics and Automation (ICRA)},
	pages={1962--1968},
	year={2019},
	doi = {10.1109/ICRA.2019.8794044},
	organization={IEEE}
}

@article{lorenzini2018synergistic,
 title={A Synergistic Approach to the Real-Time Estimation of the Feet Ground Reaction Forces and Centers of Pressure in Humans With Application to Human--Robot Collaboration},
 author={Kim, Wansoo and Lorenzini, Marta and De Momi, Elena and Ajoudani, Arash},
 journal={IEEE Robotics and Automation Letters},
 volume={3},
 number={4},
 pages={3654--3661},
 year={2018},
 doi = {10.1109/LRA.2018.2855802},
 publisher={IEEE}
}

@article{kim2018ergotac,
 title={Ergotac: A tactile feedback interface for improving human ergonomics in workplaces},
 author={Kim, Wansoo and Lorenzini, Marta and Kapıcıoglu, Kagan and Ajoudani, Arash},
 journal={IEEE Robotics and Automation Letters},
 volume={3},
 number={4},
 pages={4179--4186},
 year={2018},
 publisher={IEEE},
 doi = {10.1109/LRA.2018.2864356},
 note={presented in IROS 2018}
}

@article{kim2018anticipatory,
 title={Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human--Robot Collaboration},
 author={Kim, Wansoo and Lee, Jinoh and Peternel, Luka and Tsagarakis, Nikos and Ajoudani, Arash},
 journal={IEEE Robotics and Automation Letters},
 volume={3},
 number={1},
 pages={68--75},
 year={2018},
 publisher={IEEE},
 doi = {10.1109/LRA.2017.2729666},
 note={presented in IROS 2017}
}
% @article{lim2015development,
%  title={Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton},
%  author={Lim, Dong Hwan and Kim, Wan-Soo and Ali, Mian Ashfaq and Han, Chang Soo},
%  journal={Journal of the Korean Society for Precision Engineering},
%  volume={32},
%  number={12},
%  pages={1065--1072},
%  year={2015},
%  doi = {10.7736/KSPE.2015.32.12.1065},
%  publisher={Korean Society of Precision Engineering}
% }

@inproceedings{lorenzini2018real,
 title={A Real-time Graphic Interface for the Monitoring of the Human Joint Overloadings with Application to Assistive Exoskeletons},
 author={Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
 booktitle={International Symposium on Wearable Robotics},
 pages={281--285},
 year={2018},
 doi = {10.1007/978-3-030-01887-0_54},
 organization={Springer}
}

@inproceedings{lorenzini2018learning,
 title={A Learning-based Approach to the Real-time Estimation of the Feet Ground Reaction Forces and Centres of Pressure in Humans},
 author={Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
 booktitle={Sixth National Congress of Bioengineering},
 year={2018}
}

@article{lim2017development,
 title={Development of real-time gait phase detection system for a lower extremity exoskeleton robot},
 author={Lim, Dong-Hwan and Kim, Wan-Soo and Kim, Ho-Jun and Han, Chang-Soo},
 journal={International Journal of Precision Engineering and Manufacturing},
 volume={18},
 number={5},
 pages={681--687},
 year={2017},
 doi = {10.1007/s12541-017-0081-9},
 publisher={Springer}
}

@inproceedings{Peternel2017e,
 title={Towards ergonomic control of human-robot co-manipulation and handover},
 year={2017},
 author={Kim, Wansoo and Peternel, Luka and Babic, Jan and Ajoudani, Arash},
 booktitle={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
 pages={55--60},
 doi = {10.1109/HUMANOIDS.2017.8239537},
}

@inproceedings{Kim2017,
 address = {London, UK},
 author = {Kim, Wansoo and Lee, Jinoh and Tsagarakis, Nikos and Ajoudani, Arash},
 booktitle = {Rehabilitation Robotics (ICORR), 2017 International Conference on},
 isbn = {9781538622957},
 pages = {828--834},
 publisher = {IEEE},
 title = {A Real-time and Reduced-Complexity Approach to the Detection and Monitoring of Static Joint Overloading in Humans},
 doi = {10.1109/ICORR.2017.8009351},
 year = {2017}
}

@inproceedings{kim2017design,
 title={Design and Kinematic Analysis of the Hanyang Exoskeleton Assistive Robot (HEXAR) for Human Synchronized Motion},
 author={Kim, Wansoo and Kim, Hojun and Lim, Donghwan and Moon, Hyungi and Han, Changsoo},
 booktitle={Wearable Robotics: Challenges and Trends},
 pages={275--279},
 year={2017},
 doi = {10.1007/978-3-319-46532-6_45},
 publisher={Springer}
}

@article{yu2016development,
  title={Development of an underactuated exoskeleton for effective walking and load-carrying assist},
  author={Yu, Seungnam and Lee, Heedon and Kim, Wansoo and Han, Changsoo},
  journal={Advanced Robotics},
  volume={30},
  number={8},
  pages={535--551},
  year={2016},
  doi = {10.1080/01691864.2015.1135080},
  publisher={Taylor \& Francis}
}

@inproceedings{kim2016synchronization,
 title={A Synchronization Index for Enhanced Human-Exoskeleton Interaction},
 author={Kim, Wansoo and Lim, Donghwan and Moon, Hyungi and Han, Changsoo },
 booktitle={International Workshop on Human-Friendly Robotics, HFR 2016},
 year={2016}
}

@inproceedings{kim2015design,
 title={Design of roller-cam clutch mechanism for energy efficiency and high backdrivability of lower extremity exoskeleton},
 author={Kim, Ho Jun and Lee, Hee Don and Kim, Wan-Soo and Lim, Dong Hwan and Han, Chang Soo},
 booktitle={Control, Automation and Systems (ICCAS), 2015 15th International Conference on},
 pages={1144--1148},
 year={2015},
 doi = {10.1109/ICCAS.2015.7364799},
 organization={IEEE}
}

@inproceedings{lim2015developmentcf,
 title={Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage},
 author={Lim, Donghwan and Kim, Wansoo and Lee, Heedon and Kim, Hojun and Shin, Kyoosik and Park, Taejoon and Lee, JiYeong and Han, Changsoo},
 booktitle={Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
 pages={5345--5350},
 year={2015},
 doi = {10.1109/IROS.2015.7354132},
 organization={IEEE}
}

@article{kim2014development,
 title={Development of a muscle circumference sensor to estimate torque of the human elbow joint},
 author={Kim, WS and Lee, HD and Lim, DH and Han, JS and Shin, KS and Han, Chang-Soo},
 journal={Sensors and Actuators A: Physical},
 volume={208},
 pages={95--103},
 year={2014},
 doi = {10.1016/j.sna.2013.12.036},
 publisher={Elsevier}
}

@article{lee2014human,
 title={Human--robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification},
 author={Lee, Hee-Don and Lee, Byeong-Kyu and Kim, Wan-Soo and Han, Jung-Soo and Shin, Kyoo-Sik and Han, Chang-Soo},
 journal={Mechatronics},
 volume={24},
 number={2},
 pages={168--176},
 year={2014},
 doi = {10.1016/j.mechatronics.2014.01.007},
 publisher={Elsevier}
}

@inproceedings{kim2014mechanical,
 title={Mechanical design of the hanyang exoskeleton assistive robot (hexar)},
 author={Kim, Wansoo and Lee, Heedon and Kim, Donghwan and Han, Jungsoo and Han, Changsoo},
 booktitle={Control, Automation and Systems (ICCAS), 2014 14th International Conference on},
 pages={479--484},
 year={2014},
 doi = {10.1109/ICCAS.2014.6988049},
 organization={IEEE}
}

@inproceedings{kim2014developmentcf,
 title={Development of the Hanyang Exoskeleton Assistive Robot (HEXAR) to Enhance Lower Body Strength},
 author={Kim, WS and Lee, HD and Lim, DH and Han, JS and Han, CS},
 booktitle={International Workshop on Wearable Robotics, WeRob 2014},
 year={2014}
}

@inproceedings{kim2013development,
 title={Development of a lower extremity exoskeleton system for walking assistance while load carrying},
 author={Kim, WS and Lee, HD and Lim, DH and Han, CS and Han, JS and others},
 booktitle={Proceedings of the Sixteenth International Conference on Climbing and Walking Robots},
 pages={35--42},
 doi = {10.1142/9789814525534_0008},
 year={2013}
}

@article{lee2012technical,
 title={The technical trend of the exoskeleton robot system for human power assistance},
 author={Lee, Heedon and Kim, Wansoo and Han, Jungsoo and Han, Changsoo},
 journal={International Journal of Precision Engineering and Manufacturing},
 volume={13},
 number={8},
 pages={1491--1497},
 year={2012},
 doi = {10.1007/s12541-012-0197-x},
 publisher={Springer}
}

@article{yu2012design,
 title={Design of an under-actuated exoskeleton system for walking assist while load carrying},
 author={Yu, SN and Lee, HD and Lee, SH and Kim, WS and Han, JS and Han, Chang-Soo},
 journal={Advanced Robotics},
 volume={26},
 number={5-6},
 pages={561--580},
 year={2012},
 doi = {10.1163/156855311X617506},
 publisher={Taylor \& Francis}
}

@article{lee2012human,
 title={Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity},
 author={Lee, Heedon and Lee, Byeongkyu and Kim, Wansoo and Gil, Myeongsoo and Han, Jungsoo and Han, Changsoo},
 journal={International Journal of Precision Engineering and Manufacturing},
 volume={13},
 number={6},
 pages={985--992},
 year={2012},
 doi = {10.1007/s12541-012-0128-x},
 publisher={Springer}
}

@article{seo2012development,
 title={Development and verification of a volume sensor for measuring human behavior},
 author={Seo, A Reum and Jang, Hye Youn and Kim, Wan-Soo and Han, Chang Soo and Han, Jung Soo},
 journal={International Journal of Precision Engineering and Manufacturing},
 volume={13},
 number={6},
 pages={899--904},
 year={2012},
 doi = {10.1007/s12541-012-0117-0},
 publisher={Springer}
}

@inproceedings{kim2010energy,
 title={Energy-efficient gait pattern generation of the powered robotic exoskeleton using DME},
 author={Kim, Wansoo and Lee, Seunghoon and Kang, Minsung and Han, Jungsoo and Han, Changsoo},
 booktitle={Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on},
 pages={2475--2480},
 year={2010},
 doi = {10.1109/IROS.2010.5649235},
 organization={IEEE}
}

@inproceedings{kim2010performance,
 title={Performance comparison between neural network and SVM for terrain classification of legged robot},
 author={Kim, Kisung and Ko, Kwangjin and Kim, Wansoo and Yu, Seungnam and Han, Changsoo},
 booktitle={SICE Annual Conference 2010, Proceedings of},
 pages={1343--1348},
 year={2010},
 url = {https://ieeexplore.ieee.org/abstract/document/5602459},
 organization={IEEE}
}

@inproceedings{lee2010optimal,
 title={Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility},
 author={Lee, Seunghoon and Kim, Wansoo and Kang, Minsung and Han, Jungsoo and Han, Changsoo},
 booktitle={RO-MAN, 2010 IEEE},
 pages={500--505},
 year={2010},
 doi={10.1109/ROMAN.2010.5598675},
 organization={IEEE}
}

@inproceedings{kim2009development,
 title={Development of the heavy load transferring task oriented exoskeleton adapted by lower extremity using qausi-active joints},
 author={Kim, Wan-soo and Lee, Seung-hoon and Lee, Hee-don and Yu, Seung-nam and Han, Jung-soo and Han, Chang-soo},
 booktitle={ICCAS-SICE, 2009},
 pages={1353--1358},
 year={2009},
 url = {https://ieeexplore.ieee.org/abstract/document/5335254},
 organization={IEEE}
}

@inproceedings{fortini2020real,
  title={A Real-time Tool for Human Ergonomics Assessment based on Joint Compressive Forces},
  author={Fortini, Luca and Lorenzini, Marta and Kim, Wansoo and De Momi, Elena and Ajoudani, Arash},
  booktitle={2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages={1164--1170},
  doi={10.1109/RO-MAN47096.2020.9223565},
  organization={IEEE}
}

@inproceedings{mobedi2020adaptive,
  title={An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics},
  author={Mobedi, Emir and Villa, Nicola and Kim, Wansoo and Ajoudani, Arash},
  booktitle={2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages={144--150},
  doi={10.1109/RO-MAN47096.2020.9223515},
  organization={IEEE}
}