Publications

Peer-reviewed output

28 international journal papers · 16 peer-reviewed conference papers · 2 domestic publications · 20 patent families (KR, US, EP, JP, CN and more).

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2026

Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation

journal

C. Lee, H. Kwon, S. Kim, S. Moon, S. Jeong*

arXiv preprint

★ Under review · arXiv:2609.36241

Figure — Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation

Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper

journal

D. Kim, E. Lee, H. Park, C. Lee, C. Han, U. Hwang, S. Jeong*

arXiv preprint

★ Under review · arXiv:2609.29031

Figure — Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper

Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness

journal

E. Choi, J. Seo (co-first), S. Lee, S. Jeong*

IEEE Transactions on Automation Science and Engineering

★ Early Access on IEEE Xplore · DOI 10.1109/TASE.2026.3735421

Figure — Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness

Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction

journal

J. Lee, A. Choi, S. Jeong*

arXiv (ICRA 2027 late-breaking result)

Figure — Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction

Learning Blind Grasping with Uniaxial Fingertip Force Sensors

conference

E. Lee, J. Choi, T. Kim, C. Nam*, S. Jeong*

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

Figure — Learning Blind Grasping with Uniaxial Fingertip Force Sensors

RIM Hand: A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Reinforced Skeletal Structure

journal

J. Lee, J. Han (co-first), D. Kim, S. Jeong*

Soft Robotics

Figure — RIM Hand: A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Reinforced Skeletal Structure

Twisted String Actuation Module for Compact Robotic Finger with Extended Stroke, Reduced Hysteresis, and Bidirectional Operation

journal

C. Lee, B. Suthar*, S. Jeong*

IEEE Robotics and Automation Letters

Figure — Twisted String Actuation Module for Compact Robotic Finger with Extended Stroke, Reduced Hysteresis, and Bidirectional Operation

Automated assembly system for two-row flexible ribbon harness cables

patent

Sogang University

KR 10-2026-0195251

★ Filed 2026.10.12 (provisional); regular filing with domestic priority in progress

Fingertip 3-axis force estimation from actuator current in a direct-drive differential mechanism

patent

Sogang University

KR 10-2026-0177849

★ Filed 2026.09.17

Multi-DOF robotic gripper using a direct-drive differential mechanism

patent

Sogang University

KR 10-2026-0005274 · PCT/KR2026/005769

Robot grasp control based on uniaxial force sensing

patent

Sogang University

KR 10-2026-0014600

2025

Variable Transmission Mechanisms for Robotic Applications: A Review

journal

J. Park*, J. Lee, H.-T. Seo*, S. Jeong*

IEEE Robotics and Automation Magazine

Figure — Variable Transmission Mechanisms for Robotic Applications: A Review

Quasi-direct-drive robot hand actuation with a nonlinear elastic mechanism and its control

patent

Sogang University

KR 10-2026-0075758 · KR 10-2025-0097452 · US 19/741,259 · JP 2026-174560 · DE 10 2026 130 079

★ US, JP and DE filings completed 2026.08

Flexible robot hand design method (CMC-joint robot hand)

patent

Sogang University

KR 10-2025-0097414 · KR 10-2026-0118232

★ Domestic-priority follow-up filed 2026.06

Hybrid transmission combining magnetic and mechanical gears

patent

Sogang University · Yeungnam University

KR 10-2025-0025130

2024

Continuously Variable Transmission and Stiffness Actuator based on Actively Variable Four-Bar Linkage for Highly Dynamic Robot Systems

journal

J. Hur, H. Song, S. Jeong*

IEEE Robotics and Automation Letters

Figure — Continuously Variable Transmission and Stiffness Actuator based on Actively Variable Four-Bar Linkage for Highly Dynamic Robot Systems

A Robotic Finger with a 4-bar Linkage-based Compact and Continuously Variable Active Transmission

journal

S. Chung, E. Sohn, S. Jeong*

IEEE Robotics and Automation Letters

Figure — A Robotic Finger with a 4-bar Linkage-based Compact and Continuously Variable Active Transmission

Coaxial Magnetic Gear-based Tool-Changing System

journal

H. Song, J. Hur, S. Jeong*

IEEE Access

Figure — Coaxial Magnetic Gear-based Tool-Changing System

A Modular Robotic Platform for Biological Research: Cell Culture Automation and Remote Experimentation

journal

J. Hamm, S. Lim, J. Park, J. Kang, I. Lee, Y. Lee, J. Kang, Y. Jo, J. Lee, S. Lee, M. C. Ratri, A. I. Brilian, S. Lee, S. Jeong, K. Shin*

Advanced Intelligent Systems

★ Journal cover

Figure — A Modular Robotic Platform for Biological Research: Cell Culture Automation and Remote Experimentation

다발 하네스 케이블 조립 자동화 시스템 구현을 위한 메커니즘 설계

domestic

최은규, 서준호, 정석환

국방로봇학회 논문집

Figure — 다발 하네스 케이블 조립 자동화 시스템 구현을 위한 메커니즘 설계

Actively variable stiffness and transmission mechanism based on a 4-bar linkage for robots

patent

Sogang University

US 19/265,263 · KR 10-2025-0053062 · KR 10-2024-0094442 (legged robot)

★ US application allowed 2026.11 (Notice of Allowance received; registration pending)

Automated assembly system for harness cables

patent

Daeha Wire & Cable · Sogang University

KR 10-2024-0072703 / -0072705 / -0072707 / -0072709 / -0072710

★ Registered · Five patents registered 2024.12

End-effector exchange system

patent

Sogang University

KR 10-2024-0038169

2023

Magnetic Gear-based Actuator: A Framework of Design, Optimization, and Disturbance Observer-based Torque Control

journal

H. Song, E. Lee, H.-T. Seo*, S. Jeong*

IEEE Robotics and Automation Letters

Figure — Magnetic Gear-based Actuator: A Framework of Design, Optimization, and Disturbance Observer-based Torque Control

Coaxial Magnetic Gear-Based Actuation Module for Robotic Applications: Torque Control Using Magnetic Spring

conference

H. Song, E. Lee, H.-T. Seo*, S. Jeong*

IEEE ICRA (video presentation)

Variable Transmission between Series Elastic Actuator and Quasi-Direct Drive Actuator in One Actuator for Dynamic Interaction Tasks

conference

J. Hur, H. Song, T. Lee, W. Lee, J. Kim, S. Jeong*

IEEE IROS (late-breaking result)

방향을 가진 물체 인식 알고리즘과 조립 전략을 활용한 단일 하네스 케이블 조립 공정

domestic

이승민, 정앤드류, 정석환

국방로봇학회 논문집

Figure — 방향을 가진 물체 인식 알고리즘과 조립 전략을 활용한 단일 하네스 케이블 조립 공정

Robot hand

patent

Sogang University · Yujin MS

KR 10-2023-0181022

★ Registered · 2026.02

Lower-limb force assistance device

patent

Sogang University · Sejong University · National Rehabilitation Center

KR 10-2980945

★ Registered · 2026.06 (filed 2023.11 as KR 10-2023-0152159)

Figure — Lower-limb force assistance device

Control system and method for a coaxial magnetic gear-based drive module

patent

Sogang University

KR 10-2023-0059085

★ Registered · 2025.01

Figure — Control system and method for a coaxial magnetic gear-based drive module

2022

FLEXotendon Glove-III: Voice-Controlled Soft Robotic Hand Exoskeleton With Novel Fabrication Method and Admittance Grasping Control

journal

P. Tran*, S. Jeong, F. Lyu, K. Herrin, S. Bhatia, D. Elliott, S. Kozin, J. P. Desai

IEEE/ASME Transactions on Mechatronics

Figure — FLEXotendon Glove-III: Voice-Controlled Soft Robotic Hand Exoskeleton With Novel Fabrication Method and Admittance Grasping Control

Mechanical Variable Magnetic Gear Transmission: Concept and Preliminary Research

journal

E. Lee, H. Song, J. Jeong, S. Jeong*

IEEE Robotics and Automation Letters

Figure — Mechanical Variable Magnetic Gear Transmission: Concept and Preliminary Research

The MSC Prosthetic Hand: Rapid, Powerful, and Intuitive

journal

Y. Cho, Y. Lee, P. Kim, S. Jeong*, K.-S. Kim*

IEEE Robotics and Automation Letters

Figure — The MSC Prosthetic Hand: Rapid, Powerful, and Intuitive

Magnetic Gear Based Actuator: Design and Optimization

conference

H. Song, E. Lee, S. Jeong

ICCAS

Figure — Magnetic Gear Based Actuator: Design and Optimization

Magnet transmission

patent

Sogang University

KR 10-2022-0063534

2021

A Review: Hand Exoskeleton Systems, Clinical Rehabilitation Practices, and Future Prospects

journal

P. Tran, S. Jeong (co-first), K. Herrin, J. P. Desai

IEEE Transactions on Medical Robotics and Bionics

Figure — A Review: Hand Exoskeleton Systems, Clinical Rehabilitation Practices, and Future Prospects

Mechanical Design and Evaluation of a Selectively-Actuated MRI-Compatible Continuum Neurosurgical Robot

conference

S. S. Cheng, X. Wang, S. Jeong, M. Kole, S. Roys, R. Gullapalli

IEEE ICRA

Figure — Mechanical Design and Evaluation of a Selectively-Actuated MRI-Compatible Continuum Neurosurgical Robot

Applications: Twisted String Actuation-Based Compact Automatic Transmission

conference

S. Jeong, Y. Lee, K.-S. Kim*

IEEE ICRA

Figure — Applications: Twisted String Actuation-Based Compact Automatic Transmission

FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury

conference

P. Tran, S. Jeong (co-first), K. Herrin, S. Bhatia, S. Kozin, J. P. Desai

IEEE ICRA

Figure — FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury

Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant

conference

N. Nayar, S. Jeong, J. P. Desai

IEEE ICRA

Figure — Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant

Modeling and Control of a 2-DoF Meso-scale Continuum Robotic Tool for Pediatric Neurosurgery

journal

Y. Chitalia, S. Jeong (co-first), K. Yamamoto, J. Chern, J. P. Desai

IEEE Transactions on Robotics

Figure — Modeling and Control of a 2-DoF Meso-scale Continuum Robotic Tool for Pediatric Neurosurgery

Transmission using magnetic gears

patent

Sogang University

KR 10-2021-0155810

Multi-DOF bending and bend-length control of a coaxially aligned robotically steerable guidewire (COAST)

patent

Georgia Tech Research Corp.

US 12,752,086 · JP 7798789 · CN 115916317B · AU 2021259459 · US 19/795,936 (continuation) · EP 21793176.5 · CA/KR/PCT family

★ Registered · in the US (US 12,752,086 B2, Oct 6, 2026), JP (2026), CN (2025) and AU (Sep 2026); US continuation (Track One) filed Sep 2026

2020

Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot

journal

S. Jeong, Y. Chitalia, J. P. Desai

IEEE Robotics and Automation Letters

Figure — Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot

Miniature Force Sensor based on Dual-photointerrupter with High Linearity and Disturbance Compensation

journal

S. Jeong, Y. Chitalia, J. P. Desai

IEEE Sensors Journal

Figure — Miniature Force Sensor based on Dual-photointerrupter with High Linearity and Disturbance Compensation

Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection

journal

Y. Chitalia, N. Deaton, S. Jeong, N. Rahman, J. P. Desai

IEEE Robotics and Automation Letters

Figure — Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection

Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body

journal

Y. Chitalia, S. Jeong, N. Deaton, J. Chern, J. P. Desai

IEEE/ASME Transactions on Mechatronics

Figure — Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body

Integration of Self-Sealing Suction Cups on the FLEXotendon Glove-II Robotic Exoskeleton System

journal

S. Jeong, P. Tran, J. P. Desai

IEEE Robotics and Automation Letters

Figure — Integration of Self-Sealing Suction Cups on the FLEXotendon Glove-II Robotic Exoskeleton System

Patient-specific, Voice-controlled, Robotic FLEXotendon Glove-II System for Spinal Cord Injury

journal

P. Tran, S. Jeong (co-first), S. L. Wolf, J. P. Desai

IEEE Robotics and Automation Letters

Figure — Patient-specific, Voice-controlled, Robotic FLEXotendon Glove-II System for Spinal Cord Injury

Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant

conference

N. Nayar, S. Jeong, J. P. Desai

IEEE IROS

Figure — Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant

Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire

conference

A. Sarma, G. Collins, N. Nayar, Y. Chitalia, S. Jeong, B. Lindsey, J. P. Desai

ISMR

Figure — Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire

Steerable and flexible robotic endoscopic tools for minimally invasive procedures

patent

Georgia Tech Research Corp. · Children's Healthcare of Atlanta

US 12,318,067 · US 12,557,970 (divisional) · JP 7730614 · CA 3,132,642 · EP 20766820.3 · PCT family

★ Registered · US 12,318,067 B2 (2025.06) · divisional US 12,557,970 B2 (2026.02) · JP 7730614 (2025.08) · CA 3,132,642 (2026.09)

Voice-activated, compact, and portable robotic system

patent

Georgia Tech Research Corp.

US 12,179,356 · US 12,576,517 (continuation) · JP 7411317 · EP 20766664.5 · CA 3,132,645 · PCT family

★ Registered · US 12,179,356 B2 (2024.12) · continuation US 12,576,517 B2 (2026.03) · JP 7411317 (2023.12)

2019

Towards the Design and Development of a Pediatric Neuroendoscope Tool

conference

Y. Chitalia, S. Jeong, J. Bok, V. Nguyen, S. Melkote, J. J. Chern, J. P. Desai

IEEE IROS

Figure — Towards the Design and Development of a Pediatric Neuroendoscope Tool

Voice-Controlled Flexible Exotendon (FLEXotendon) Glove for Hand Rehabilitation

conference

P. Tran, S. Jeong, J. P. Desai

IEEE IROS

Figure — Voice-Controlled Flexible Exotendon (FLEXotendon) Glove for Hand Rehabilitation

2018

Design of Robot Hand with Pneumatic Dual-Mode Actuation Mechanism Powered by Chemical Gas Generation Method

journal

K. R. Kim, S. H. Jeong, P. Kim, K.-S. Kim

IEEE Robotics and Automation Letters

Figure — Design of Robot Hand with Pneumatic Dual-Mode Actuation Mechanism Powered by Chemical Gas Generation Method

A 2-Speed Small Transmission Mechanism Based on Twisted String Actuation and a Dog Clutch

journal

S. H. Jeong, K.-S. Kim

IEEE Robotics and Automation Letters

Figure — A 2-Speed Small Transmission Mechanism Based on Twisted String Actuation and a Dog Clutch

Design of a Miniature Force Sensor based on Photointerrupter for Robotic Hand

journal

S. H. Jeong, H. J. Lee, K. R. Kim, K.-S. Kim

Sensors and Actuators A: Physical

Figure — Design of a Miniature Force Sensor based on Photointerrupter for Robotic Hand

2017

Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism

journal

S. H. Jeong, Y. J. Shin, K.-S. Kim

IEEE/ASME Transactions on Mechatronics

Figure — Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism

Designing Anthropomorphic Robot Hand With Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors

journal

S. H. Jeong, K.-S. Kim, S. Kim

IEEE Robotics and Automation Letters

Figure — Designing Anthropomorphic Robot Hand With Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors

Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism

conference

S. H. Jeong, K.-S. Kim, S. Kim

IEEE AIM

Design of Small Mobile Robot Remotely Controlled by an Android Operating System via Bluetooth and NFC Communication

conference

K. R. Kim, S. H. Jeong, W. Y. Kim, Y. Jeon, K.-S. Kim, J. H. Hong

URAI

Figure — Design of Small Mobile Robot Remotely Controlled by an Android Operating System via Bluetooth and NFC Communication

Dual-mode transmission mechanism based on twisted string actuation

patent

KAIST

US 15/806,466 · EP 17200917.7 · KR 10-2017-0032997 · PCT/KR2017/012387

★ Registered · in US (2019), EP (2021), KR (2018)

2016

Development of a Robotic Finger with an Active Dual-Mode Twisting Actuation and a Miniature Tendon Tension Sensor

conference

S. H. Jeong, K.-S. Kim, S. Kim

IEEE AIM

★ Best Student Paper Award · Best Mechatronics Student Paper Award (ASME/DSCD)

Figure — Development of a Robotic Finger with an Active Dual-Mode Twisting Actuation and a Miniature Tendon Tension Sensor

2015

Dual-Mode Twisting Actuation Mechanism with an Active Clutch for Active Mode-Change and Simple Relaxation Process

conference

S. H. Jeong, Y. J. Shin, K.-S. Kim, S. Kim

IEEE IROS

Figure — Dual-Mode Twisting Actuation Mechanism with an Active Clutch for Active Mode-Change and Simple Relaxation Process

2014

Dual-mode actively variable twisted string actuator and robotic finger

patent

KAIST

KR 10-2014-0180017

★ Registered · 2016.10