Authors

Joonho Lee

Publications 2

Preprint Open access

Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation

Hyojae Kang, Hyun-mok Jung, Joonho Lee et al. · 2026

This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actua …

Preprint Open access

Learning Reflexive Behavior for Contact-Rich Manipulation

Quan Nguyen, Yunho Kim, Joonho Lee · 2026

During contact-rich manipulation, interactions between a robot and its environment carry information about local geometry: a surface prevents penetration, a bore guides a peg. A controller that exploits these interactions can comply with environmental constraints while preserving task intent. Robot-earning systems comm …

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