Research Publications

Selected Publications

• I. Kang, D.D. Molinaro, D. Park, D. Lee, P. Kunapuli, K.R. Herrin, A.J. Young. Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke. IEEE Transactions on Robotics. 2025.

• D.D. Molinaro, I. Kang, A.J. Young. Estimating human joint moments unifies exoskeleton control, reducing user effort. Science Robotics. 2024.

• Y.T. Pan*, I. Kang*, J. Joh, P. Kim, K.R. Herrin, T.M. Kesar, G.S. Sawicki, et al. Effects of bilateral assistance for hemiparetic gait post-stroke using a powered hip exoskeleton. Annals of Biomedical Engineering. 2022.

• I. Kang, D.D. Molinaro, S. Duggal, Y. Chen, P. Kunapuli, A.J. Young. Real-time gait phase estimation for robotic hip exoskeleton control during multimodal locomotion. IEEE Robotics and Automation Letters. 2021.

• I. Kang, H. Hsu, A. Young. The effect of hip assistance levels on human energetic cost using robotic hip exoskeletons. IEEE Robotics and Automation Letters. 2019.

All Publications

2025

• I. Kang, D.D. Molinaro, D. Park, D. Lee, P. Kunapuli, K.R. Herrin, A.J. Young. Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke. IEEE Transactions on Robotics. 2025.

• C. Song, B. Ivanyuk-Skulskyi, A. Krieger, K. Luo, I. Kang. Personalization of Wearable Sensor-Based Joint Kinematics Estimation Using Computer Vision for Hip Exoskeleton Applications. 2025 International Conference on Rehabilitation Robotics (ICORR). 2025.

• M.T. Tagliaferri, L. Campeggi, O.N. Beck, I. Kang. Ground Perturbation Detection via Lower-Limb Kinematic States During Locomotion. 2025 International Conference on Rehabilitation Robotics (ICORR). 2025.

• J. An, C. Song, E. Halilaj, I. Kang. Optimizing Locomotor Task Sets for Training a Biological Joint Moment Estimator. 2025 International Conference on Rehabilitation Robotics (ICORR). 2025.

• Y.H. Chiu, U.H. Lee, C. Song, M. Hu, I. Kang. Learning speed-adaptive walking agent using imitation learning with physics-informed simulation. 2025 International Conference on Rehabilitation Robotics (ICORR). 2025.

• R.R. Peterson, J.K. Leestma, I. Kang, A.J. Young. Machine Learning Enables Rapid Detection of Slips Using a Robotic Hip Exoskeleton. IEEE Transactions on Medical Robotics and Bionics. 2025.

• B. Hur, S. Baek, I. Kang, D. Kim. Learning based lower limb joint kinematic estimation using open source IMU data. Scientific Reports. 2025.

• D. Park, J. An, D. Lee, I. Kang, A.J. Young. Human-in-the-loop optimization of hip exoskeleton assistance during stair climbing. IEEE Transactions on Biomedical Engineering. 2025.

2024

• D.D. Molinaro, I. Kang, A.J. Young. Estimating human joint moments unifies exoskeleton control, reducing user effort. Science Robotics. 2024.

2023

• A. Young, I. Kang, D. Lee. Exoskeleton systems and methods of use. US Patent App. 18/003,927. 2023.

• A. Young, D.D. Molinaro, I. Kang. System and method for estimating human joint movements and controlling exoskeleton assistance. US Patent App. 18/340,981. 2023.

• I. Kang, R.R. Peterson, K.R. Herrin, A. Mazumdar, A.J. Young. Design and validation of a torque-controllable series elastic actuator-based hip exoskeleton for dynamic locomotion. Journal of Mechanisms and Robotics. 2023.

• D. Lee, I. Kang, G.F. Kogler, F.L. Hammond, A.J. Young. User and Environmental Context Adaptive Knee Exoskeleton Assistance using Electromyography. 2023 International Symposium on Medical Robotics (ISMR). 2023.

2022

• Y.T. Pan*, I. Kang*, J. Joh, P. Kim, K.R. Herrin, T.M. Kesar, G.S. Sawicki, et al. Effects of bilateral assistance for hemiparetic gait post-stroke using a powered hip exoskeleton. Annals of Biomedical Engineering. 2022.

• I. Kang, D.D. Molinaro, G. Choi, J. Camargo, A.J. Young. Subject-independent continuous locomotion mode classification for robotic hip exoskeleton applications. IEEE Transactions on Biomedical Engineering. 2022.

• H.M. Cho, I. Kang, D. Park, D.D. Molinaro, A.J. Young. Real-Time Walk Detection for Robotic Hip Exoskeleton Applications. 2022 International Symposium on Medical Robotics (ISMR). 2022.

• D.D. Molinaro, I. Kang, J. Camargo, M.C. Gombolay, A.J. Young. Subject-independent, biological hip moment estimation during multimodal overground ambulation using deep learning. IEEE Transactions on Medical Robotics and Bionics. 2022.

2021

• G. Choi, D. Lee, I. Kang, A.J. Young. Effect of assistance timing in knee extensor muscle activation during sit-to-stand using a bilateral robotic knee exoskeleton. 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). 2021.

• H. Jin, I. Kang, G. Choi, D.D. Molinaro, A.J. Young. Wearable sensor-based step length estimation during overground locomotion using a deep convolutional neural network. 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). 2021.

• D. Lee, I. Kang, D.D. Molinaro, A. Yu, A.J. Young. Real-time user-independent slope prediction using deep learning for modulation of robotic knee exoskeleton assistance. IEEE Robotics and Automation Letters. 2021.

• D. Lee, B.J. McLain, I. Kang, A.J. Young. Biomechanical comparison of assistance strategies using a bilateral robotic knee exoskeleton. IEEE Transactions on Biomedical Engineering. 2021.

• I. Kang, D.D. Molinaro, S. Duggal, Y. Chen, P. Kunapuli, A.J. Young. Real-time gait phase estimation for robotic hip exoskeleton control during multimodal locomotion. IEEE Robotics and Automation Letters. 2021.

2020

• I. Kang, D.D. Molinaro, G. Choi, A.J. Young. Continuous locomotion mode classification using a robotic hip exoskeleton. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics. 2020.

• D.D. Molinaro, I. Kang, J. Camargo, A.J. Young. Biological hip torque estimation using a robotic hip exoskeleton. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics. 2020.

• S.E. Lee, C. Kilpatrick, I. Kang, H. Hsu, W.L. Childers, A. Young. Investigating the impact of the user interface for a powered hip orthosis on metabolic cost and user comfort: a preliminary study. JPO: Journal of Prosthetics and Orthotics. 2020.

• D. Lee, E.C. Kwak, B.J. McLain, I. Kang, A.J. Young. Effects of assistance during early stance phase using a robotic knee orthosis on energetics, muscle activity, and joint mechanics during incline and decline walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2020.

• G.S. Sawicki, O.N. Beck, I. Kang, A.J. Young. The exoskeleton expansion: improving walking and running economy. Journal of Neuroengineering and Rehabilitation. 2020.

2019

• I. Kang, P. Kunapuli, H. Hsu, A.J. Young. Electromyography (EMG) signal contributions in speed and slope estimation using robotic exoskeletons. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). 2019.

• H. Zheng, T. Shen, M.R. Afsar, I. Kang, A.J. Young, X. Shen. A semi-wearable robotic device for sit-to-stand assistance. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). 2019.

• I. Kang*, P. Kunapuli*, A.J. Young. Real-time neural network-based gait phase estimation using a robotic hip exoskeleton. IEEE Transactions on Medical Robotics and Bionics. 2019.

• I. Kang, H. Hsu, A. Young. The effect of hip assistance levels on human energetic cost using robotic hip exoskeletons. IEEE Robotics and Automation Letters. 2019.

2018

• I. Kang, H. Hsu, A.J. Young. Design and validation of a torque controllable hip exoskeleton for walking assistance. Dynamic Systems and Control Conference. 2018.

• H. Hsu, I. Kang, A.J. Young. Design and evaluation of a proportional myoelectric controller for hip exoskeletons during walking. Dynamic Systems and Control Conference. 2018.