publications

1. Multi-Limb Locomotion

  1. Under Review
    ral26.png
    Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
    Chaerim Moon, Joohyung Kim, and Justin K. Yim
    Under Review, 2026
    legged locomotion whole-body dynamics multi-limb coordination
    Paper Project Page

2. Multi-Limb Manipulation

  1. RO-MAN
    roman24.png
    Strategies for Moment Compensation in Supernumerary Robotic Limbs Manipulation Tasks
    Chaerim Moon and Joohyung Kim
    In IEEE RO-MAN, 2024
    human-in-the-loop manipulation physical HRI multi-limb coordination
    Paper Project Page
  2. EMBC
    embc24.png
    Assessing the Physical Impact of Supernumerary Limbs on a Human Subject: A Simulation Study
    Chaerim Moon and Joohyung Kim
    In IEEE EMBC, 2024
    human-in-the-loop manipulation physical HRI dynamic analysis
    Paper
  3. IROS Workshop
    iros_workshop23.png
    Coordinated Motion Planning of a Wearable Multi-Limb System for Enhanced Human-Robot Interaction
    Chaerim Moon and Joohyung Kim
    In Workshop on Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives at IROS, 2023
    human-in-the-loop manipulation physical HRI multi-limb coordination
    Paper
  4. IROS Demo
    iros_demo23.png
    Robotic Backpack System with Pluggable Supernumerary Limbs
    Chaerim Moon*, Sean Taylor*, Kevin Gim, and 4 more authors
    In Demo Session at IROS, 2023
    *Equal contribution
    human-in-the-loop manipulation teleoperation human pose estimation
    Paper

3. Interactive Head Robot

  1. RO-MAN
    roman23.png
    Development of a 3-DOF Interactive Modular Robot with Human-like Head Motions
    Chaerim Moon, Sankalp Yamsani, and Joohyung Kim
    In IEEE RO-MAN, 2023
    human-robot non-verbal communication human subject tracking robotic head module
    Paper Project Page

4. Passive Exoskeleton

  1. TNSRE
    tnsre22.png
    A Lower-Back Exoskeleton with a Four-Bar Linkage Structure for Providing Extensor Moment and Lumbar Traction Force
    Chaerim Moon, Jangho Bae, Jaewon Kwak, and 1 more author
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022
    wearable robot mechanism design linkage synthesis exoskeleton
    Paper