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Soh Gim Song

SOH Gim Song

Associate Professor
Director (Education and Innovation)
EMAIL
sohgimsong
sutd.edu.sg
WEBSITE
OFFICE
1.402.18
CONTACT
+65 6303 6679
RESEARCH AREAS
Design Science & Engineering
Robotics & Electronics

Biography

Dr Soh Gim Song is an Associate Professor in the Engineering Product Development Pillar at the Singapore University of Technology and Design. He is a core founding member of the Robotics Innovation Laboratory and the director of the Articulated Systems and Biomechanics group. He obtained his MSc and Ph.D. degrees from the University of California, Irvine (UCI), where he researched and developed innovative computer-aided design software tools for the invention of articulated mechanical systems. He had taught courses in the field of machine theory, computer-aided design, and manufacturing, as well as engineering design processes.  He was a visiting Scholar in the department of Mechanical Engineering of MIT and an Associate Research Scientist at the Singapore Institute of Manufacturing Technology. Currently, he is serving as an Associate Editor for the ASME Journal of Mechanism and Robotics, the Honors and Awards Subcommittee Chair for the ASME Mechanism and Robotics Committee, a Member of the IFToMM Technical Committee for Robotics and Mechatronics, and the Chairperson of Singapore Committee for the Technologies of Machines and Mechanisms.

For details on my publications, see

Education
  • PhD Mechanical and Aerospace Engineering, University of California, Irvine, USA, 2008
  • MSc Mechanical and Aerospace Engineering, University of California, Irvine, USA, 2006
  • BEng Mechanical and Production Engineering (Mechatronics), Nanyang Technological University, Singapore, 2003
Research interests
  • Kinematics
  • Mechanisms
  • Robotics
  • Additive Manufacturing
  • Wearable Devices

My co-authored book published in 2010:
Institutional and professional services

Institutional services at SUTD
  • Jun 2024 – Present: Director, Robotics Innovation Lab (RIL), SUTD.
  • Jan 2022 – Present: Director, Office of Education and Innovation (ODEI), SUTD.
  • Apr 2020 – Dec 2021: Director, Graduate Studies, SUTD.
  • Jun 2019 – Mar 2020: Associate Director, Graduate Studies, SUTD.

Professional society and editorial services
  • Nov 2025 – Present: Awards Executive, ASME Design Engineering Division (DED).
  • Jun 2019 – Dec 2025: Associate Editor, ASME Journal of Mechanisms and Robotics.
  • Jun 2018 – Present: Chairperson, IFToMM Singapore Member Organization.
  • Sep 2014 – Present: Member, IFToMM Technical Committee for Robotics and Mechatronics.
  • May 2015 – Present: Working Group Member, Automation, Robotics and Precision Engineering Technical Committee, Singapore Standards Council.
Professional activities
  • Jun 2019 – Dec 2025: Associate Editor, ASME Journal of Mechanisms and Robotics.
  • Jun 2011 – Present: Member, American Society of Mechanical Engineers (ASME).
  • Mar 2014 – Present: Member, Institute of Electrical and Electronics Engineers (IEEE).
  • Jan 2016 – Present: Member, IEEE Robotics and Automation Society (RAS).
  • Sep 2014 – Present: Member, IFToMM Technical Committee for Robotics and Mechatronics (International Federation for the Promotion of Mechanism and Machine Science).
  • Jun 2018 – Present: Chairperson, IFToMM Singapore Member Organization.
  • May 2015 – Present: Working Group Member, Automation, Robotics and Precision Engineering Technical Committee, Singapore Standards Council.
Honours and awards
  • 2024 — ASME IDETC Mechanism and Robotics (MR) Conference Best Paper Award, “Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage.”
  • 2023 — ASME IDETC Mechanism and Robotics (MR) Conference Best Paper Award, “Targeted Sampling DWA: A Path-Aware Sampling Strategy for Omni-Directional Robots.”
  • 2025 — Best Poster Award (W. S. Lim, supervised), 1st International Conference on Future of Additive Manufacturing (ICFAM), Singapore — “Contour Toolpath Planning with Limits on Bead Width Constraints in WAAM.”
  • 2020 — Unmanned Systems Best Paper Award (Application Category), “Design of a Hybrid Aerial Robot with Multi-Mode Structural Efficiency and Optimized Mid-Air Transition.”
  • 2019 — Most Outstanding Paper Award, IEEE International Symposium on Multi-Robot and Multi-Agent Systems, “Decentralized Multi-Floor Exploration by a Swarm of Miniature Robots Teaming with Wall-Climbing Units.”
  • 2019 — Singapore Good Design Mark Award, “Orion.”
  • 2018 — ASME IDETC Mechanism and Robotics (MR) Conference Best Paper Award, “A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation.”
  • 2018 — Singapore Good Design Mark Award, “TIM: Tree Inspection Microdrone.”
  • 2018 — Singapore Good Design Mark Award, “THOR: Transformable Hovering Rotorcraft.”
  • 2017 — Singapore Good Design Mark Award, “Virgo Intelligent Surveillance and Reconnaissance Robot.”
  • 2007 — Most Innovative Design Award, Extreme Gravity Racing Series (USA), “Kumo.”
  • 2006 — Most Innovative Design Award, Extreme Gravity Racing Series (USA), “Lean Dynamics.”

Ongoing projects

Visit the Articulated Systems and Biomechanics Group for more information.
Teaching
  • 30.105 Machine Element Design
  • 30.001 Structures and Materials
Selected patents
  • Adaptive Hybrid-Wire Arc Additive Manufacturing. SG PCT: 10201908625V
  • Climbing Robot with Robust Transition. SG PCT: 10201903500S
  • Method and Device for Measuring Anatomical Movement of a Joint. SG PCT: 10201810156P
  • Robot and Method for Localizing a Robot. US Patent: 15/655,451
Selected recent publications
  • J. L. Lau and G. S. Soh, “Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow,” ASME J. Mechanisms and Robotics, vol. 13, no. 3, art. 031012, 2021.
  • D. Sufiyan, L. S. T. Win, S. K. H. Win, G. S. Soh and S. H. Foong, “Joint Mechanical Design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle via Collaborative Co-Evolution,” IEEE Robot. Autom. Lett., vol. 6, no. 2, pp. 2044–2051, 2021.
  • H. Y. Li, Y. C. Ma, M. N. A. Bin Miswadi, L. N. N. Luu, L. J. Yang, S. H. Foong, G. S. Soh, E. Sivertsen and U. X. Tan, “Detect-Remove-Replace: A Robotic Solution That Enables Unmanned Continuous 3D Printing,” IEEE Robot. Autom. Mag., vol. 29, no. 2, pp. 33–45, 2022.
  • S. K. H. Win, L. S. T. Win, D. Sufiyan, G. S. Soh and S. H. Foong, “An Agile Samara-Inspired Single-Actuator Aerial Robot Capable of Autorotation and Diving,” IEEE Trans. Robot., vol. 38, no. 2, pp. 1033–1046, 2022.
  • M. Ng, Z. M. Er, G. S. Soh and S. H. Foong, “Aggregation Functions for Simultaneous Attitude and Image Estimation With Event Cameras at High Angular Rates,” IEEE Robot. Autom. Lett., vol. 7, no. 2, pp. 4384–4391, 2022.
  • A. G. Dharmawan and G. S. Soh, “A Cylindrical Path Planning Approach for Additive Manufacturing of Revolved Components,” Mater. Sci. Add. Manuf., vol. 1, no. 1, art. 3, 2022.
  • B. P. L. Lau, B. J. Y. Ong, L. K. Y. Loh, R. Liu, C. Yuen, G. S. Soh and U. X. Tan, “Multi-AGV’s Temporal Memory-Based RRT Exploration in Unknown Environment,” IEEE Robot. Autom. Lett., vol. 7, no. 4, pp. 9256–9263, 2022.
  • N. A. Surovi and G. S. Soh, “Process Map Generation of Geometrically Uniform Beads Using Support Vector Machine,” Materials Today: Proceedings, vol. 70, pp. 113–118, 2022.
  • Y. M. Elkhouly, W. S. Lim, A. G. Dharmawan and G. S. Soh, “Adaptive Contour Based Printing of a Propeller Using Hybrid-Wire Arc Additive Manufacturing,” Materials Today: Proceedings, vol. 70, pp. 395–400, 2022.
  • W. S. Lim, A. G. Dharmawan and G. S. Soh, “Development and Performance Evaluation of a Hybrid-Wire Arc Additive Manufacturing System Based on Robot Manipulators,” Materials Today: Proceedings, vol. 70, pp. 587–592, 2022.
  • Z. Chen and G. S. Soh, “Microstructure and Mechanical Properties of Wire Arc Additive Manufactured (WAAM) Inconel 718 Parts via Post Heat Treatments,” Materials Today: Proceedings, vol. 70, pp. 567–573, 2022.
  • C. H. Tan, D. S. B. Shaiful, E. Tang, G. S. Soh and S. H. Foong, “Flydar: A Passive Scanning Flying Lidar Sensing System for SLAM Using a Single Laser,” IEEE Sensors J., vol. 22, no. 2, pp. 1746–1755, 2022.
  • D. Sufiyan, L. S. T. Win, S. K. H. Win, Y. H. Pheh, G. S. Soh and S. H. Foong, “An Efficient Multimodal Nature-Inspired Unmanned Aerial Vehicle Capable of Agile Maneuvers,” Adv. Intell. Syst., vol. 5, no. 1, art. 2200242, 2023.
  • N. Robson, B. Y. Chen, J. Won and G. S. Soh, “Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion,” ASME J. Mechanisms and Robotics, vol. 15, no. 1, art. 011004, 2023.
  • U. Gupta, J. L. Lau, P. Z. Chia, Y. Y. Tan, A. Ahmed, N. C. Tan, G. S. Soh and H. Y. Low, “All Knitted and Integrated Soft Wearable of High Stretchability and Sensitivity for Continuous Monitoring of Human Joint Motion,” Adv. Healthcare Mater., art. 2202987, 2023.
  • N. A. Surovi and G. S. Soh, “Acoustic Feature-Based Geometric Defect Identification in Wire Arc Additive Manufacturing,” Virtual Phys. Prototyping, vol. 18, no. 1, art. e2210553, 2023.
  • A. Yeldan, A. Arora and G. S. Soh, “On the Edge Obstacle Surmounting Method Using Hybrid Locomotion,” ASME J. Mechanisms and Robotics, vol. 16, no. 1, art. 011002, 2024.
  • S. Dontu, E. Kanhere, T. Stalin, A. G. Dharmawan, C. Hegde, J. T. Su, X. D. Chen, S. Magdassi, G. S. Soh and P. V. Y. Alvarado, “Applications of a Vacuum-Actuated Multi-Material Hybrid Soft Gripper: Lessons Learnt from RoboSoft Manipulation Challenge,” Front. Robot. AI, vol. 11, art. 1356692, 2024.
  • C. Shen and G. S. Soh, “Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots,” ASME J. Mechanisms and Robotics, vol. 16, no. 11, art. 111001, 2024.
  • A. Yeldan, A. Arora and G. S. Soh, “Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage,” ASME J. Mechanisms and Robotics, vol. 17, no. 4, art. 044508, 2025.
  • C. C. Lan, M. Niitsuma, P. C. Lin, G. Sziebig and G. S. Soh, “Focused Section on Applications of Intelligent Human–Robot Collaboration and Interaction,” Int. J. Intell. Robot. Appl., vol. 9, no. 1, pp. 1–3, 2025.
  • Y. Y. Tan, U. Gupta, P. Z. Chia, C. P. Pambudi, B. E. H. Lim, G. S. Soh and H. Y. Low, “Seamlessly Machine-Knitted Multi-Sensor Garment to Monitor and Quantify Dynamic Upper Body Movement,” Adv. Sens. Res., vol. 4, no. 12, art. e00067, 2025.