| 2012-09 | A 2-dof gravity compensator with bevel gears | Cho, Changhyun; Lee, Woosub; Lee, Jinyi; Kang, Sungchul |
| 2010-02 | A Dynamic Model of Humanoid Robots using the Analytical Method | Lee, Sangyong; Cho, Changhyun; Choi, Mun Taek; Kim, Munsang; Kim, Jongwon |
| 2013-04 | A Safe Robot Arm with Safe Joints and Gravity Compensator | Choi, Dongeun; Choi, Junho; Cho, Changhyun; Park, Shinsuk; Kang, Sungchul |
| 2015-11 | Design of a static balancer for constrained joint space | Cho, Changhyun; Lee, Woosub |
| 2014-04 | Design of a Static Balancing Mechanism for a Serial Manipulator With an Unconstrained Joint Space Using One-DOF Gravity Compensators | Cho, Changhyun; Kang, Sungchul |
| 2015-02 | Design of Static Balancing Mechanism for Face Robot | Kim, Seung-Jong; Cho, Changhyun |
| 2010-03 | Development of a six DOF haptic master for teleoperation of a mobile manipulator | Ryu, Dongseok; Song, Jae-Bok; Cho, Changhyun; Kang, Sungchul; Kim, Munsang |
| 2007-04 | Energy-based control of a haptic device using brakes | Cho, Changhyun; Song, Jae-Bok; Kim, Munsang |
| 2017-01 | Joint configuration for physically safe human-robot interaction of serial-chain manipulators | Hong, Seonghun; Cho, Changhyun; Lee, Hyeongcheol; Kang, Sungchul; Lee, Woosub |
| 2014 | Joint Configuration Strategy for Serial-chain Safe Manipulators | Hong, Seonghun; Lee, Woosub; Cho, Changhyun; Kang, Sungchul; Lee, Hyeongcheol |
| 2017-06-30 | Omni-directional Power-assist-modular(PAM) Mobile Robot for Total Nursing Service System | BAE, GANG TAE; KIM, SEUNG WON; CHOI, DONG EUN; Cho, Changhyun; Lee, Woo sub; Kang, Sung Chul |
| 2012-04 | Robotic Manipulators Employing a Bevel Gravity Compensator | Cho, Changhyun; Lee, Woosub; Kang, Sungchul |
| 2008-10 | Stable Haptic Display of Slowly Updated Virtual Environment With Multirate Wave Transform | Cho, Changhyun; Song, Jae-Bok; Kim, Munsang |
| 2014-02 | Static balancer for the neck of a face robot | Cho, Changhyun; Kim, Seungjong |
