Papers
8
Total Citations
185
H-Index
5
About
Hoyul Lee is a robotics researcher whose work bridges the gap between mechanical innovation and real-world application, particularly in surgical robotics, mobile manipulation, and wearable systems. His most influential contribution is the development of **stackable 4-BAR mechanisms**, a novel manipulator design that allows all driving actuators to be separated from the mechanical structure. This concept, first introduced in 2010 and refined through multiple papers, has been applied to single-port access surgery (48 citations), robotic finger prostheses (31 citations), and mobile manipulation robots (5 citations), demonstrating remarkable versatility. Lee’s second major contribution is the **dual-motor actuator system using a planetary gear (DuPG)** , which improves speed-torque performance for mobile robots—his most-cited work with 77 citations. He has also explored master manipulators for robotic catheter systems (11 citations) and null-space projection methods for multi-robot navigation (4 citations). Across his portfolio, Lee’s designs prioritize compactness, modularity, and decoupling of actuation from mechanism—principles that are critical for minimally invasive surgery and lightweight field robots. His work on stackable 4-BAR mechanisms, in particular, has laid a foundation for future surgical and service robots that require high dexterity in confined spaces.
Research Focus
Key Achievements
Top Papers
- 1A New Actuator System Using Dual-Motors and a Planetary Gear77 citations · 2011
- 2Stackable 4-BAR Manipulators for Single Port Access Surgery48 citations · 2011
- 3Robotic index finger prosthesis using stackable double 4-BAR mechanisms31 citations · 2013
- 4Novel Design of Master Manipulator for Robotic Catheter System11 citations · 2018
- 5Stackable 4-BAR mechanisms and their robotic applications6 citations · 2010
- 6Stackable manipulator for mobile manipulation robot5 citations · 2012
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