Adaptive Measurement Model-Based Fusion of Capacitive Proximity Sensor and LiDAR for Improved Mobile Robot Perception
Hyun Chang Kang, Hong Sik Yim, Hyuk Jae Sung, *Hyouk Ryeol Choi
IEEE Robotics and Automation Letters (RA-L), 2025
paper

This study presents an adaptive sensor fusion algorithm that integrates a capacitive proximity sensor and LiDAR using Gaussian synthesis. By linearizing non-Gaussian capacitive data with a first-order Taylor approximation, the method improves distance estimation. Experiments show superior accuracy and efficiency over EKF and AEKF in complex environments.

Electromagnetic Field & ToF Sensor Fusion for Advanced Perceptual Capability of Robots
Hong Sik Yim, Hyun Chang Kang, Tien Dat Nguyen, *Hyouk Ryeol Choi
IEEE Robotics and Automation Letters (RA-L), 2024
paper

This study proposes a triple-mode fusion sensor combining electromagnetic field and infrared ToF sensors for enhanced physical human-robot interaction, enabling long-range ToF sensing, short-range capacitive proximity detection, and inductive tactile sensing with a self-curve fitting algorithm to improve accuracy and robustness.

Multi-functional safety sensor coupling capacitive and inductive measurement for physical Human–Robot Interaction
Hong Sik Yim, Hyun Chang Kang, Tien Dat Nguyen, *Hyouk Ryeol Choi
Sensors and Actuators A: Physical, 2023
paper

This study presents a multi-functional safety sensor that combines capacitive and inductive measurements to enhance physical human-robot interaction (pHRI). The sensor enables proximity detection up to 300 mm and tactile sensing up to 11 N, distinguishing between human bodies and conductive objects for safer collaboration. Experimental validation demonstrates its effectiveness in robotic applications, including emergency stop, collision avoidance, and direct teaching.

Multi-legged Walking Robot Using Complex Linkage Structure
Sang Hyun Im, Dong Hoon Lee, Hyun Chang Kang, *Sang Hyun Kim
Journal of the Korean Society of Manufacturing Process Engineers, 2021
paper

This study presents a multi-legged walking robot that utilizes a complex linkage mechanism to enhance efficiency while reducing structural complexity and power consumption. A double crank-rocker system enables lateral leg movement, while an improved cam structure controls vertical motion, all driven by just two DC motors. The design's feasibility is validated through simulation and real-world implementation.