1. Dynamic modeling and analysis

   2. Motion planning using redundancies

   3. Bio-mimetic design for the purpose
      of payload enhancement

   1.Targeted for Neuro-surgical procedures

   2.Task-oriented design of robotic manipulator,
       surgical tool, and haptic device

   3.Image-guided surgical intervention

   1. Omni-directional mobile robot

   2. Trailer type mobile robot

   3. Coordination of multiple mobile robotic system

   4. Optimal design

   1. Combination of serial- and parallel-type
       modules

   2. Task-oriented design and efficient dynamic
       modeling

   3. Module interface modeling and design

   2. Biomimetic design using redundant actuators

   3. Compliance control algorithm

   1. Role : gripping + manipulation

   2. Parallel type grippers of various degrees of
      freedom

   3. Planar, translational and spherical types

   1. Singularity-free, redundant actuation
       architecture

   2. High functional design ranging from one
       to six DOF

   3. Unique forward / inverse solution

   1. Impact modeling

   2. Analysis of external and internal impulse for
       human body motion

   3. Application to human body motion,
       manufacturing, and joint injury on treadmill

   1. Analysis and modeling of human
       musculoskeletal structure

   2. Antagonistic stiffness using force redundancy

   3. Modeling of electro active polymer system
       with application to biomimetic muscle

   1. Text to face synchronization

   2. Animation of human body motion

   3. Mathematical kinematic and dynamic
       modeling

   1. Design of soft arm, back drivable, light
       weight and large payload

   2. Application  to human-robot collaboration
       tasks

   3. Redundant actuation, gravity compensation
       and wire driven transmission

   1. Stiffness modeling and design of flexure
       hinged, parallel type micro mechanisms

   2. Application to bio- and nano manipulation

   3. Tele-operation, visual servoing