Biomechatronics and Intelligent Robotics Lab



Google Scholar


Peer Reviewed Journal Publications


  1. T. C. Bulea, N. Sharma, S. Sikdar, H. Su. "Editorial: Next Generation User-Adaptive Wearable Robots", Frontiers in Neurorobotics, May. 2022. https://doi.org/10.3389/frobt.2022.920655. PDF

  2. 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, 2022.
  3. Zhu J, Jiao C, Dominguez I, Yu S, Su H. "Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance For Agile Activities", IEEE/ASME Transactions on Mechatronics, Jul. 2022.
    PDF | Video | AIM2022 Presentation Video

  4. 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, doi: 10.1109/TMECH.2022.3176255.
    PDF | Video

  5. 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”, Invited Paper, Special Issue Surgical Robotics and Interventional Systems, Proceedings of the IEEE PDF

  6. 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, doi: 10.1109/TNSRE.2022.3166800. PDF

  7. Afzal T, Zhu F, Tseng S C, Lincoln J, Francisco G, Su H and Chang S H (2022) Evaluation of Muscle Synergy during Exoskeleton-assisted Walking in Persons with Multiple Sclerosis. IEEE Transactions on Biomedical Engineering, doi: 10.1109/TBME.2022.3166705. PDF

  8. Chen Y, Li X, Su H, Yu H and Zhang D (2022) "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. doi:10.3389/fnbot.2022.791169 PDF

  9. Buckner, C., Miikkulainen, R., Forrest, S., Milano, S., Zou, J., Prunk, C., Irrgang, C., Cohen, I., Su, H. et al. AI reflections in 2021. Nat Mach Intell 4, 5–10 (2022), doi: 10.1038/s42256-021-00435-7 PDF

  10. Luo S, Androwis G, Adamovich S, Su H, Nunez E and Zhou X (2021) Reinforcement Learning and Control of a Lower Extremity Exoskeleton for Squat Assistance. Front. Robot. AI 8:702845. doi: 10.3389/frobt.2021.702845 PDF

  11. 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, doi: 10.1109/TNSRE.2021.3126104. PDF

  12. 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, doi: 10.1109/TMECH.2021.3081367. PDF

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

  14. Su H, Di Lallo A, Murphy RR, Taylor RH, Garibaldi BT, Krieger A. Physical human–robot interaction for clinical care in infectious environments. Nature Machine Intelligence. 2021 Mar;3(3):184-6.. PDF

  15. Di Lallo A, Murphy RR, Krieger A, Zhu J, Taylor RH, Su H, "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, March 2021, doi: 10.1109/MRA.2020.3045671. PDF

  16. 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

  17. Yu S, Huang TH, Yang X, Jiao C, Yang J, Chen Y, Yi J, Su H. "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, doi: 10.1109/TMECH.2020.2995134. (ASME Mechatronics TC 2020 Best Student Paper) PDF | Presentation Video | Short Demo Video | Code | Award

  18. 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): eaaz6912. PDF | Supplementary Materials | Video

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

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

  21. 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

  22. 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 (RA-L), vol. 3, no. 4, pp. 4265-4272, Oct. 2018 PDF | Video | Code

  23. Guo, M. 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

  24. 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

  25. 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

  26. 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

  27. 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

  28. 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

  29. 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

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

  2. 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

  3. 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

  4. 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

  5. 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.

  6. 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.

  7. 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


  8. Refereed Conference Publications


    1. Hunte K, Chen S, Yi J, Su H. 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. 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

    2. 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

    3. 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

    4. 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

    5. 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

    6. 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

    7. 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

    8. 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

    9. 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