Pyung Hun Chang

Pyung Hun Chang

Pyung Hun Chang (S’86-M’89) received the M.S. and Ph.D. degrees in mechanical engineering from the Massachusetts Institute of Technology, Cambridge, MA, in 1984 and 1987, respectively.

He was a Professor at the KAIST, Daejeon, Republic of Korea, for 24 years. He is currently a Professor of the Robotics Engineering Department of the Daegu Gyeongbuk Institute of Science and Technology, Daegu, Republic of Korea, where he is also the vice president for academic affairs. He has authored more than 65 papers in international journals, 22 papers in domestic journals, and 90 papers in conference proceedings. His current research interests include rehabilitation robotics, robust control of nonlinear systems including kinematically redundant manipulators, and impedance control of dual-arm manipulators.


Contributions

  • In vivo Estimation of Human Forearm and Wrist Dynamic Properties
    In vivo Estimation of Human Forearm and Wrist Dynamic Properties

    It is important to estimate the 3 degree-of-freedom (DOF) impedance of human forearm and wrist (i.e., forearm prono-supination, and wrist flexion-extension and radial-ulnar deviation) in motor control and in the diagnosis of altered mechanical resistance following stroke. There is, however, a lack of methods to characterize 3 DOF impedance. Thus, we developed a reliable and accurate impedance estimation method, the distal internal model based impedance control (dIMBIC)-based method, to characterize the 3 DOF impedance, including cross-coupled terms between DOFs, for the first time.

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