Biomechatronics and Intelligent Robotics Lab



Google Scholar


Peer Reviewed Journal Publications


  1. Y. Li, A. Di Lallo, J. Zhu, Y. Chi, H. Su, J. Yin. Adaptive hierarchical origami-based metastructures. Nature Communications, 2024. PDF | Video

  2. S. Luo, M. Jiang, S. Zhang, J. Zhu, S. Yu, I. Dominguez, T. Wang, E. Rouse, B. Zhou, H. Yuk, X. Zhou, and H. Su. Experiment-free exoskeleton assistance via learning in simulation. Nature, 630, 353–359 (2024). PDF | Supplementary Materials | Editor Perspective | Video | Fox News Report | Fox News Video | Yahoo! | AOL | Popular Science | WRAL News

  3. Y. Li, S. Yu, H. Qing, Y. Hong, Y. Zhao, F. Qi, H. Su*, J. Yin*, "Reprogrammable and reconfigurable mechanical computing metastructures with stable and high-density memory", Science Advances, 2024. (*corresponding authors) PDF | Video

  4. A. Di Lallo*, S. Yu*, J. Slightam, G. X. Gu, J. Yin, H. Su. "Untethered Fluidic Engine for High-Force Soft Wearable Robots", Advanced Intelligent Systems, 2024. PDF | Video

  5. X. Xing*, S. Zhang*, T. Huang, J.S. Huang, H. Su, and Y. Li, "Spatial Iterative Learning Torque Control of Robotic Exoskeletons for High Accuracy and Rapid Convergence Assistance", IEEE/ASME Transactions on Mechatronics, Mar. 2024. PDF

  6. W. Song, C. Liu, S. Sajedi, H. Su, X. Liang, and M. Zheng. "An Audio-Based Risky Flight Detection Framework for Quadrotors" IET Cyber-Systems and Robotics, 2024. PDF

  7. S. Zhang, J. Zhu, T.H. Huang, S. Yu, J. S. Huang, I. Lopez-Sanchez, T. Devine, M. Abdelhady, M. Zheng, T. C. Bulea, and H. Su, “Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance,” Mechatronics, vol. 97, p. 103109, Feb. 2024. PDF | Video

  8. Y. Zhao, Y. Hong, Y. Li, F. Qi, H. Qing, H. Su and J. Yin. "Physically intelligent autonomous soft robotic maze escaper" Science Advances, September 2023. PDF | Video

  9. D. Kruse, L. Schur, H. A. Johnson-Marcus, L. Gilbert, A. Di Lallo, W. Gao, & H. Su. "Assistive technology’s potential to improve employment of people with disabilities" Journal of Occupational Rehabilitation, 2024. pp 1-17. PDF

  10. M. Normand, J. Lee, H. Su, and J. Sulzer. "The Effect of Hip Exoskeleton Weight on Kinematics, Kinetics, and Electromyography During Human Walking" Journal of Biomechanics, March 2023. PDF

  11. S. Luo, G. Androwis, S. Adamovich, E.Nunez, H. Su, and X. Zhou. "Robust walking control of a lower limb rehabilitation exoskeleton coupled with a musculoskeletal model via deep reinforcement learning" J NeuroEngineering Rehabil 20, 34 March 2023. PDF

  12. S. Yu, J. Yang, T. Huang, J. Zhu, C. Visco, F. Hameed, J. Stein, X. Zhou and H. Su, “Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction” in Annals of Biomedical Engineering, 2023. PDF

  13. S. Yu, T.H. Huang, A. Di Lallo, S. Zhang, T. Wang, Q. Fu, and H. Su "Bio-Inspired Design of a Self-Aligning, Lightweight, and Highly-Compliant Cable-Driven Knee Exoskeleton" Frontiers in Human Neuroscience. p.763. Nov. 2022. PDF

  14. Z. Chen, C. Liu, H. Su, X. Liang, M. Zheng. "A hybrid disturbance observer for delivery drone’s oscillation suppression" Mechatronics. Volume 88. Dec. 2022. PDF

  15. Y. Zhao, Y. Hong, F. Qi, Y. Chi, H. Su, and J. Yin. "Self-sustained snapping drives autonomous dancing and motion in free-standing wavy rings." Advanced Materials. 2022. PDF | Video

  16. Q. Xiao, M. Musa, I. Godage, H. Su, and Y. Chen. "Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone." ASME Journal of Mechanisms and Robotics. Oct. 2022. PDF

  17. S. Chang, S. Tseng, H. Su and G. E. Francisco. "How Can Wearable Robotic and Sensor Technology Advance Neurorehabilitation?, Frontiers in Neurorobotics. Sep. 2022. PDF

  18. T. C. Bulea, N. Sharma, S. Sikdar, H. Su. "Editorial: Next Generation User-Adaptive Wearable Robots", Frontiers in Neurorobotics. May. 2022. PDF

  19. T. Huang*, S. Zhang*, S. Yu, M. MacLean, J. Zhu, A. Lallo, C. Jia, T. Bulea, M. Zheng and H. Su, "Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance," in IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1442-1459, Jun. 2022.
    PDF | Video

  20. J. Zhu, C. Jiao, I. Dominguez, S. Yu and H. Su, "Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance for Agile Activities," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 4, pp. 1837-1845, Aug. 2022. (2022 Best Paper in Mechatronics Award + 2023 ASME-DSCD Biosystems and Healthcare Technical Committee Best Paper Award ) PDF | Video | AIM2022 Presentation Video

  21. H. Su, K. Kwok, K. Cleary, J. Desai, I. Iordachita, C. Cavusoglu, G.S. Fischer, "State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions," in Proceedings of the IEEE, vol. 110, no. 7, pp. 968-992, Jul. 2022 PDF

  22. M. Gonzalez, H. Su and Q. Fu, "Age-dependent Upper Limb Myoelectric Control Capability in Typically Developing Children." in IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022. PDF

  23. T. Afzal, F. Zhu, S. C. Tseng, J. Lincoln, G. Francisco, H. Su and S.H. Chang, "Evaluation of Muscle Synergy during Exoskeleton-assisted Walking in Persons with Multiple Sclerosis." IEEE Transactions on Biomedical Engineering, 2022. PDF

  24. Y. Chen, X. Li, H. Su, H. Yu and D. Zhang, "Design of A Bio-Inspired Gait Phase Decoder Based on Temporal Convolution Network Architecture with Contralateral Surface Electromyography Sensory Feedback Towards Hip Prosthesis Control." Frontiers in Neurorobotics, May. 2022. PDF

  25. C. Buckner, R. Miikkulainen, S. Forrest, S. Milano, J. Zou, C. Prunk, C. Irrgang, I. Cohen, H. Su, R. Murphy, R. Taylor. AI reflections in 2021. Nature Machine Intelligence. 4(1). Jan. 2022. PDF

  26. S. Luo, G. Androwis, S. Adamovich, H. Su, E. Nunez and X. Zhou. "Reinforcement Learning and Control of a Lower Extremity Exoskeleton for Squat Assistance." Frontier Robotics & AI 8:702845. 2021 PDF

  27. X. Li, B. He, Z. Deng, Y. Chen, D. Wang, Y. Fan, H. Su, H. Yu, "A Center of Mass Estimation and Control Strategy for Body-Weight-Support Treadmill Training," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, 13;29:2388-98. Nov. 2021. PDF

  28. S. Chen, D.T. Stevenson, S. Yu, M. Mioskowska, J. Yi, H. Su, M. Trkov, "Wearable Knee Assistive Devices for Kneeling Tasks in Construction," in IEEE/ASME Transactions on Mechatronics, vol. 26, no. 4, pp. 1989-1996, Aug. 2021. PDF

  29. A. Gao, R.R Murphy, W. Chen, G. Dagnino, P. Fischer, M.G Gutierrez, D. Kundrat, B.J. Nelson, N. Shamsudhin, H. Su, Xia J, Zemmar A, Zhang D, Wang C, Yang G. "Progress in robotics for combating infectious diseases." Science Robotics. 31;6(52). Mar. 2021. PDF

  30. H. Su, A. Di Lallo, R.R Murphy, R.H. Taylor, B.T. Garibaldi, A. Krieger, "Physical human–robot interaction for clinical care in infectious environments." Nature Machine Intelligence. 3(3):184-6. Mar. 2021. PDF

  31. A. Di Lallo, R. Murphy, A. Krieger, J. Zhu, R. H. Taylor and H. Su, "Medical Robots for Infectious Diseases: Lessons and Challenges from the COVID-19 Pandemic," in IEEE Robotics & Automation Magazine, vol. 28, no. 1, pp. 18-27, Mar. 2021. PDF

  32. G. Li, N. Patel, E. Burdette, J. Pilitsis, H. Su, and G. S. Fischer, “A Fully-Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors”, IEEE/ASME Transactions on Mechatronics. 2020. PDF

  33. S. Yu, T.H Huang, X. Yang, C. Jiao, J. Yang, Y. Chen, J. Yi, H. Su. "Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth", IEEE/ASME Transactions on Mechatronics. vol. 25, no. 4, pp. 1794-1802, Aug. 2020. (ASME Mechatronics Technical Committee 2020 Best Student Paper) PDF | Presentation Video | Short Demo Video | Code | Award

  34. Y. Tang, Y. Chi, J. Sun, T. Huang, O.H. Maghsoundi, A. Spence, J. Zhao, H. Su, J. Yin*, “Leveraging Elastic instabilities for Amplified Performance (LEAP): spine-inspired high-speed and high-force soft robots”, Science Advances. 6.19. 2020. PDF | Supplementary Materials | Video

  35. S. Yu, T.H. Huang, D. Wang, B. Lynn, D. Sayd, V. Silivanov, Y.S. Park, Y. Tian, H. Su. "Design and Control of a High-Torque and Highly-Backdrivable Hybrid Soft Exoskeleton for Knee Injury Prevention during Squatting". IEEE Robotics and Automation Letters, 2019. PDF | Video

  36. X. Yang, T.H. Huang, H. Hu, S. Yu, S. Zhang, X. Zhou, A. Carriero, G. Yue, H. Su. "Spine-Inspired Continuum Soft Exoskeleton for Stoop Lifting Assistance." IEEE Robotics and Automation Letters, 14;4(4):4547-54. Aug. 2019 PDF | Video

  37. Y. Chen, I. Godage, H. Su, Aiguo Song, Hong Yu, “Stereotactic Systems for MRI-guided Neurosurgeries: A State-of-the-art Review”, Annals of Biomedical Engineering, vol. 9, no. 1, pp. 1-19, 2018. PDF

  38. J. Wang, X. Li, T. Huang, S. Yu, Y. Li, T. Chen, A. Carriero, M. Oh-Park, H. Su, “Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton”, IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4265-4272, Oct. 2018 PDF | Video | Code

  39. M. Guo, C.W. Leong, H. Su, K. Kwok, “Techniques for Stereotactic Neurosurgery: Beyond the “Frame,” Towards the Intraoperative MRI-guided and Robot-assisted Approaches,” World Neurosurgery, vol. 116, pp. 77–87, 2018 PDF

  40. F. Zaki, Y. Wang, H. Su, X. Yuan, and X. Liu, "Noise Adaptive Wavelet Thresholding for Speckle Noise Removal in Optical Coherence Tomography," Biomedical Optics Express, vol. 8, no. 5, pp. 2720-2731, 2017. PDF

  41. H. Su, W. Shang, G. Li, and G.S. Fischer, “An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device”, Annals of Biomedical Engineering, 2017. PDF

  42. H. Su, I. Iordorchita, J. Tokuda, N. Hata, X. Liu, R. Seifabadi, S. Xu, B. Wood, and G. S. Fischer, "Fiber Optic Force Sensors for MRI-Guided Surgical Interventions and Rehabilitation", IEEE Sensors Journal, 2017. PDF

  43. H. Su, G. Li, D. C. Rucker, R.J. Webster III, and G. S. Fischer. "A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting," Annals of Biomedical Engineering, vol.44, no.10, pp. 2863-732016. PDF

  44. H. Su*, G. Li*, G.A. Cole, W. Shang, J. Pilitsis, and G. S. Fischer, “Robotic System for MRI-Guided Stereotactic Neurosurgery,” IEEE Transactions on Biomedical Engineering, vol. 62, no. 4, pp. 1077-1088, 2015 (*shared first authorship) PDF

  45. H. Su, W. Shang, G. Cole, G. Li, K. Harrington, A. Camilo, J. Tokuda, C. M. Tempany, N. Hata, G. S. Fischer, "Piezoelectrically-Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy," IEEE/ASME Transactions on Mechatronics , vol.20, no.4, pp.1920-1932, 2015 PDF

  46. Y. Fu, H. Su, G. Duan, “Robust Guaranteed Cost Observer for Markovian Jumping Systems with State Delays”, Journal of System Simulation, vol.17, no. 10, pp. 2479-2482, 2005



Patents


1. A. Mehendale, F. Sahin G. Cole, H. Su, V. Parthasarathy, "Virtually-oriented Electromagnetic Tracking Coil for Catheter based Navigation"


2. G. Cole, H. Su, V. Parthasarathy, "A System for Enhancing Clinical Workflow in Navigation Bronchoscopy Procedures"


3. H. Su, G. Cole, V. Parthasarathy, "Steerable Catheter with Articulated Revolute Joints"


4. H. Su, G. Cole, V. Parthasarathy, "Handheld Catheter Driver with Endoscope Mount Utilizing Friction-Driven Wheel Mechanism"


5. H. Su, G. Cole, V. Parthasarathy, "Rotatable Telescopic Stabilizer for Use of Catheter Inside an Endoscope"


6. G.S. Fischer and H. Su, "System and Method for Under Actuated Control of Insertion Path for Asymmetric Tip Needles"


7. G.S. Fischer and H. Su, "Apparatus and Methods for MRI-Compatible Haptic Interfaces"



Book Chapters


  1. R. Mendonca, C. Wamsley, C.Y. Tsai, H. Su, M. Johnson, “Stroke and Rehabilitation Robotics in the USA”, eds. R. Mendonca and M. Johnson, Rehabilitation Robots for Neurorehabilitation in High, Middle and Low Income Countries: A Roadmap for Engineers and Clinicians, Elsevier, 2022.

  2. A. Di Lallo, S. Yu, T.H. Huang, T.C. Bulea, H. Su. High-performance soft wearable robots for human augmentation and gait rehabilitation. InSoft Robotics in Rehabilitation 2021 Jan 1 (pp. 1-38). Academic Press. PDF

  3. Z. Guo, M. C. Leong, H. Su, K. Kwok, D. T. Chan and W. Poon, "Prospective Techniques for Magnetic Resonance Imaging–Guided Robot-Assisted Stereotactic Neurosurgery, eds. M. H. Abedin-Nasab, Handbook of Robotic and Image-Guided Surgery, Elsevier, 2020. PDF

  4. H. Su and G. S. Fischer, "Sensors, Actuators, and Robots for MRI-Guided Surgery and Interventions”, eds. J. Desai, Encyclopedia of Medical Robotics, World Scientific Publishers, 2017. PDF

  5. H. Su and G. S. Fischer, "High-field MRI-Compatible Needle Placement Robots for Prostate Interventions: Pneumatic and Piezoelectric Approaches", eds. T. Gulrez and A. Hassanien, Advances in Robotics and Virtual Reality, Springer-Verlag, 2011. PDF

  6. H. Huang, H. Su and, C. Ru, "Piezoelectric Driven Ultrasonic Cell Manipulator", eds. T. Sobh and X. Xiong, Prototyping of Robotic Systems: Applications of Design and Implementation, IGI Global, 2011.

  7. H. Huang, D. Sun, H. Su and J. Mills, "Force Sensing and Control of Robot-Assisted Cell Injection", eds. T. Gulrez and A. Hassanien, Advances in Robotics and Virtual Reality, Springer-Verlag, 2011.

  8. G. Cole, K. Harrington, H. Su, A. Camilo, J. Pilitsis, G. S. Fischer, "Closed-Loop Actuated Surgical System Utilizing In-Situ Real-Time MRI Guidance", Springer Tracts in Advanced Robotics, eds. O. Khatib, V. Kumar, G. Sukhatme, Springer-Verlag, 2012. PDF


    9. Refereed Conference Publications


    1. K. Hunte, S. Chen, J. Yi, H. Su. Assist-As-Needed Control of a Wearable Lightweight Knee Robotic Device. In2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2020 Jul 6 (pp. 1477-1482). IEEE. PDF

    2. L. J. Salmeron, G. V. Juca, S. M. Mahadeo, J. Ma, S. Yu, H. Su, “An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People with Foot Drop”, Design of Medical Devices Conferences (DMD), Minneapolis, 2020. (Three-in-Five Student Design Competition, Runner Up) PDF | Video | Competition Video | Certificate , Certificate

    3. J, Yuen, K, Nogacz, Y. C. Chi, F. Ferdousi, S. Yu, T. Huang, G. Yue, H. Su, “The Oxeous Back-Support Exoskeleton: Soft, Active Suit to Reduce Spinal Loading”, Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF

    4. S. Yu, H. Perez, J. Barkas, M. Mohamed, M. Eldaly,T. Huang, X. Yang, H. Su, “A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals,” Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF

    5. J. Yang, T. H. Huang, S. Yu, X. Yang, H. Su, A. M. Spungen, C. Y. Tsai, “Machine Learning Based Adaptive Gait Phase Estimation Using Inertial Measurement Sensors,” Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF | Code

    6. E. Pushaj, V. Singh, A. Shohatee, M. Babu, H. Su, T. Huang, “Soft Ankle Exoskeleton for Gait Assistance of Children with Cerebral Palsy in Home Settings,” Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF

    7. S. M. Mahadeo, T. Huang, A. Zych, D. Sanakov, H. Su, “A Smart Cooling Vest for People with Thermoregulatory Disorder”, Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF

    8. T. H. Huang, J. Yang, E. Pushaj, V. Silvanov, S. Yu, X. Yang, H. Su, S. H. Chang, G. Francisco, “Soft Physiology Sensors and Machine Learning to Enhance Spinal Cord Injury and Stroke Rehabilitation Outcomes in Home Settings,” Design of Medical Devices Conferences (DMD), Minneapolis, 2019. PDF

    9. Guo, S. Yu, Y. Li, T.H. Huang, J. Wang, B. Lynn, J. Fidock, C.L. Shen, D. Edwards, H. Su, “A Soft Robotic Exo-Sheath using Fabric EMG Sensing for Hand Rehabilitation and Assistance”, IEEE International Conference on Soft Robotics, Livorno, Italy, 2018. PDF

    10. S. Yu, R. Duan, H. Cui, T. Huang, C. Feng, Y. Tian Z. Zhu, H. Su, “Interaction-Safe Humanoid Robot for Augmented Reality-Assisted Telemanipulation”, Waste Management Symposia, Phoenix, 2018. PDF

    11. Y. Li, S. Chang, G. Francisco, H. Su, “Interaction Force Modeling for Joint Misalignment Minimization Toward Bio-inspired Knee Exoskeleton Design”, Design of Medical Devices Conferences (DMD), Minneapolis, 2018. PDF| Code

    12. R. Duan, S. Yu, G. Yue, R. Foulds, C. Feng, Y. Tian, H. Su, “Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control”, Design of Medical Devices Conferences (DMD), Minneapolis, 2018. PDF

    13. H. Cui, S. Yu, X. Yan, S. Chang, G. Francisco, Q. Fu, H. Su, “A Modular Approach for Lightweight Humanoid Hand Design using High Torque Density Electric Actuators”, Design of Medical Devices Conferences (DMD), Minneapolis, 2018. PDF

    14. K. Shang, X. Xu, H. Su, “Design and Evaluation of an Upper Extremity Wearable Robot with Payload Balancing for Human Augmentation,” International Wearable Robotics Symposium, 2017.

    15. E. Park, J. Kang, H. Su, P. Stegall, S. Agrawal, E. Goldfield, C. J. Walsh, “Design and Preliminary Evaluation of a Multi-Robotic System with Pelvic and Hip Assistance for Pediatric Gait Rehabilitation”, International Conference on Rehabilitation Robotics (ICORR), London, 2017. PDF

    16. P. Malcolm, F. Panizzolo, J. Speeckaert, J. Kim, H. Su, G. Lee, I. Galiana, K.G. Holt, C.J. Walsh, “Effect of slope and speed on kinetics of jogging with a backpack,” in 41st Annual Meeting of the American Society of Biomechanics (ASB), Boulder, CO, August 2017.

    17. H. Su, Y. Ding, I. Galiana, J. Speeckaert, N. Karavas, P. Malcolm, C. Siviy, C. J. Walsh, “Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension Assistance”, The International Symposium on Wearable Robotics, Segovia, Spain, 2016. PDF

    18. Z. Guo, T. Lun, Y. Chen, H. Su, D. Chan, K.W. Kwok, “Novel Design of an MR-Safe Pneumatic Stepper Motor for MRI-Guided Robotic Interventions”, Proceedings of The Hamlyn Symposium on Medical Robotics, London, 2016.

    19. E. Goldfield, E. Park, J. Kang, H. Su, P. Stegall, S. Agrawal, C. J. Walsh, “Multi-Robot Cyber-Physical System for Assisting Young Developmentally-Delayed Children in Learning to Walk,” NSF Cyber-Physical Systems Principal Investigators' Meeting, Arlington, Virginia, 2016.

    20. H. Su*, W. Shang*, G. Li, and G.S. Fischer, “Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback,” IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Tokyo, Japan, Nov. 2013

    21. H. Su, D. Cardona, W. Shang, C. Rucker, R. Webster III and G. Fischer, “An MRI-Guided Concentric Tube Continuum Robot with Piezoelectric Actuation: A Feasibility Study,” IEEE ICRA International Conference on Robotics and Automation, Minnesota, USA, 2012 (Best Medical Robotics Paper Award, Runner-up)

    22. H. Su, W. Shang, A. Camilo, J. Tokuda, N. Hata, C. Tempany, and G. S. Fischer, “A networked modular hardware and software system for MRI-guided robotic prostate interventions,” SPIE Medical Imaging (Image-Guided Procedures, Robotic Interventions, and Modeling Conference), San Diego, USA, 2012

    23. G. S. Fischer, G.A. Cole, and H. Su, “Approaches to Controlling Motion in MRI,” International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Boston, USA, 2011 (Invited Paper)


    Workshops and Conference Abstracts


    1. J. S. Huang, J. Zhu, S. Zhang, I. Lopez-Sanchez, and H. Su, Mechatronic Design of Lightweight and Portable Hip and Knee Exoskeleton: Comfort-Centered Design. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) . Boston, MA, USA (July 2024). PDF

    2. J. Zhou, W. Zhou, and H. Su, Smart Worker Helper: A High Torque Density and Large Workspace Seven-Axis Robotic Arm. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) . Boston, MA, USA (July 2024). PDF

    3. M. Jiang, J. Zhu, S. Zhang, and H. Su, Experiment-Free Exoskeleton Assistance via Reinforcement Learning in Simulation Saves Energetics During Human Locomotion. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) . Boston, MA, USA (July 2024). PDF

    4. S. Zhang, J. Zhu, J, S. Huang, I. Lopez-Sanchez, and H. Su, Deep Learning-Based Control of Pediatric Exoskeleton with Actuator Optimization for Community-Based Mobility Assistance. Dynamic Walking. Pensacola, Florida (May 2024). PDF

    5. A. Di Lallo, S. Yu, J. Zhu, I. Dominguez, S. Zhang and H. Su, Human Augmentation in Multiple Activities with A Versatile Portable Knee Exoskeleton. Dynamic Walking. Pensacola, Florida (May 2024). PDF

    6. S. Luo, M. Jiang, S. Zhang, I. Dominguez, I. Lopez-Sanchez, and H. Su, A Learning in Simulation Approach for Exoskeletons. Dynamic Walking. Pensacola, FL, USA (May 2024). PDF

    7. D. Rodríguez-Jorge, N. Srinivasan, T. Taylor, I. Dominguez and H. Su, Comfort-Centered Design of Lightweight Hip Exoskeleton with Real-Time Machine Learning Capability. Dynamic Walking. Pensacola, Florida (May 2024) PDF

    8. A. Di Lallo, S. Yu, N. Srinivasan, and H. Su, Unleashing Fluid-driven Soft Wearable Robots. RoboSoft. San Diego, California (April 2024). PDF

    9. J. S. Huang, J. Zhu, I. Dominguez, C. Tsai, N. Y. Harel, H. Su, “Lightweight and Modular Hip and Knee Exoskeletons for Mobility Assistance in Community Settings” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Assistive Robotics for Citizens Detroit, USA. PDF | Poster

    10. J. S. Huang, W. Gao, A. Di Lallo, H. Su, “Design of Lightweight and Portable Soft Shoulder Exoskeleton in Community Settings” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Assistive Robotics for Citizens Detroit, USA. PDF | Poster

    11. I. Dominguez, S. Luo, R. Wu, H. Su, “Reinforcement Learning through Physics-based and Data-driven Approaches for Exoskeleton Control in the Real World” 2023 IEEE International Conference on Robotics and Automation (ICRA), Workshop: Neuromechanics Meets Deep Learning, London, UK. PDF | Poster

    12. W. Gao, A. Di Lallo, and H. Su, “A Portable Powered Soft Exoskeleton for Shoulder Assistance During Functional Movements: Design and Evaluation” International Symposium on Medical Robotics, Georgia, USA, 2023. PDF | Poster

    13. I. Dominguez, S. Yu, S. Zhang, J. Zhu, and H. Su, “Hip Exoskeletons for Mobility Augmentation: Mechatronics Design” International Symposium on Medical Robotics, Georgia, USA, 2023. PDF | Poster

    14. D. Chen, M. Dan, S. Zhang, I. Dominguez, V. Shetty, W. Gao, T. Taylor, S. Ranjan and H. Su, “Design and Control of an Open-Source Agile Bipedal Humanoid Robot with High-Torque Density Motors for Household Assistance” International Symposium on Medical Robotics, Georgia, USA, 2023 PDF | Poster

    15. S.Y. Yu, T.H. Huang, C.H. Jiao, H. Hu, S.N. Zhang, and H. Su, “A Lightweight and High Torque Hip Exoskeleton with Quasi-Direct Drive Actuation for Independent Living Assistance” Dynamic Walking, Pennsylvania, USA, 2020 PDF | Poster | Video

    16. H. Hu, A.D. Lallo, S.Y. Yu, T.H. Huang, S.N. Zhang, and H. Su, “Lightweight, Backdrivable, and High-Bandwidth Knee Exoskeleton with Quasi-Direct Drive Actuation” Dynamic Walking, Pennsylvania, USA, 2020 PDF | Poster | Video

    17. S.Y. Yu, T.H. Huang, M. Zhang, S.N. Zhang, and H. Su, “A Quasi-Direct-Drive Knee Soft Exoskeleton for Musculoskeletal Injury Prevention” International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019 PDF

    18. K. Alonso, L. Baraldi, A. Chowdhury, S. Gaggenapally, S. Gonzalez, D. Tran, S.Y. Yu, X.L. Yang, and H. Su, “Untethered High Force Hydraulic Artificial Muscles for SoftWearable Robots” International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019 PDF

    19. X.L. Yang, T.H. Huang, H. Hu, S.Y. Yu, S.N. Zhang, V. Rodrigues, and H. Su, “A Spine-Inspired Soft Exoskeleton for Lifting Assistance” IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, 2019 PDF

    20. J.F. Yang, T.H. Huang, A. Kashyap, S.Y Yu, X.J. Sun, and H. Su, “Fabric EMG Sensors for Monitoring and Spasticity Detection of Individuals with Spinal Cord Injury and Stroke” IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, 2019 PDF

    21. S.Y. Yu, T.H. Huang, M. Zhang, S.N. Zhang, and H. Su, “A Quasi-Direct-Drive Knee Exoskeleton for Musculoskeletal Injury Prevention” IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea, 2019 PDF

    22. Y.J. Li, S.Y. Yu, T.H. Huang, J.L. Wang, X. Li, and H. Su, “A Quasi-Direct-Drive Cable Actuation System for Interaction-Safe Knee Exoskeleton Design” Dynamic Walking, Florida, USA, 2018 PDF

    23. S.Y. Yu, X.L. Yang, T.H. Huang, S.N. Zhang, H. Hu, S. Guguloth, and H. Su, “Lightweight and High Torque Hybrid Soft Exoskeletons for Walking and Squatting Assistance” Dynamic Walking, Alberta, Canada, 2019 PDF

    Mentored Students’ Research Work


    1. Zeheng Xu, Hao Su, “Control of Automatic Laser Surgical System,” NCSU MAE586 Master Student Project Work, 2024 PDF

    2. Jaykumar Deshani, Hao Su, “Advancing Shoulder Rehabilitation: A Wearable Soft Robot Utilizing Pneumatic Actuation,” NCSU MAE586 Master Student Project Work, 2024 PDF






      3.