Biomechatronics and Intelligent Robotics Lab



Google Scholar


Peer Reviewed Journal Publications


  1. S. Luo, M. Jiang, S. Zhang, J. Zhu, S. Yu, I. Dominguez Silva, T. Wang, E. Rouse, B. Zhou, H. Yuk, X. Zhou, and H. Su, “Experiment-free exoskeleton assistance via learning in simulation,” Nature, vol. 630, no. 8016, pp. 353–359, Jun. 2024. PDF | Supplementary Materials | Editor Perspective | Video | Fox News Report | Fox News Video | Yahoo! | AOL | Popular Science | WRAL News

  2. Y. Li, A. Di Lallo, J. Zhu, Y. Chi, H. Su, and J. Yin, “Adaptive hierarchical origami-based metastructures,” Nature Communications, vol. 15, no. 1, p. 6247, Jul. 2024. (impact factor = 16.6) PDF | Video

  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, Jun 26;10(26):eado6476, 2024. (*corresponding authors, impact factor 13.6) 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. (impace factor = 7.4) PDF | Video

  5. 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. (impact factor = 3.3) PDF

  6. 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. (impact factor = 5.7) PDF

  7. 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

  8. D. Wang, J. Li Z. Jian, H. Su, H. Wang, F. Fang, “Modeling and Control of a Bedside Cable-driven Lower Limb Rehabilitation Robot for Bedridden Individual”, Frontiers in Bioengineering and Biotechnology, 2023. (impact factor 5.7)

  9. 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. (impact factor = 3.3) PDF | Video

  10. 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. 2023. (Honorable Mention for the 2023 Journal of Mechanisms and Robotics Best Paper Award) PDF

  11. 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. (impact factor = 14) PDF | Video

  12. 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. (impact factor = 2.4) PDF

  13. 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. (impact factor = 4.47) PDF

  14. 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. (impact factor = 3.3) PDF

  15. Q. Xiao, M. Musa, I. S. Godage, H. Su, and Y. Chen, “Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone,” Journal of Mechanisms and Robotics, vol. 15, no. 5, p. 051011, Oct. 2023. (impact factor 2.08) PDF

  16. U. H. Lee, T. Shepherd, S. Kim, A. De, H. Su, R. Gregg, L. Mooney, and E. Rouse, “How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems.” arXiv, Sep. 29, 2023. PDF

  17. 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. (impact factor = 3.2) PDF

  18. 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. (impact factor = 3.2) PDF

  19. 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. (impact factor = 32) PDF | Video

  20. S. Chang, S. Tseng, H. Su and G. E. Francisco. "How Can Wearable Robotic and Sensor Technology Advance Neurorehabilitation?, Frontiers in Neurorobotics, Sep. 2022. (impact factor = 4.08) PDF

  21. T. C. Bulea, N. Sharma, S. Sikdar, H. Su. "Editorial: Next Generation User-Adaptive Wearable Robots", Frontiers in Neurorobotics, May, 9:920655, 2022. (impact factor = 4.33) PDF

  22. 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 (TRO), vol. 38, no. 3, pp. 1442-1459, Jun. 2022. (impact factor = 6.12) PDF | Video

  23. 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. (Best Paper Award in Mechatronics, Best Paper Award in Biosystems and Healthcare, impact factor = 5.7) PDF | Video | AIM2022 Presentation Video

  24. 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. (impact factor = 10.96) PDF

  25. 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, vol. 30, pp. 1009-1018, 2022. (impact factor = 3.34) PDF

  26. 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, vol. 12, no.3, pp. 1-10, 2022. (impact factor = 4.54) PDF

  27. 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, 16:791169, 2022. (impact factor = 3.56) PDF

  28. 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, Jan (4), 5–10, 2022 (impact factor = 15.3) PDF

  29. 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. (impact factor = 4.33) PDF

  30. 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, vol. 29, pp. 2388-2398, 2021. (impact factor = 3.34) PDF

  31. 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. (impact factor = 5.7) PDF

  32. 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, Mar 31;6(52):eabf1462, 2021. (impact factor = 23.74) PDF

  33. 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. (impact factor = 15.3) PDF

  34. 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. (impact factor = 5.14) PDF

  35. 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, August, Jul 29;26(1):255-66, 2020. (impact factor = 5.7) PDF

  36. 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. (Best Student Paper of ASME, Dynamic Systems & Control Division, selected from 4 international conferences 1200+ papers, impact factor = 5.7) PDF | Presentation Video | Short Demo Video | Code | Award

  37. 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, 1;6(19):eaaz6912, 2020. (impact factor = 13.1) PDF | Supplementary Materials | Video

  38. 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, Jul 26;4(4):4579-86., 2019. (impact factor = 3.74) PDF | Video

  39. 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. (impact factor = 3.74) PDF | Video

  40. 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. (impact factor = 3.3) PDF

  41. 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. (impact factor = 3.74) PDF | Video | Code

  42. 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. (impact factor = 1.72) PDF

  43. 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. (impact factor = 3.91) PDF

  44. 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, Aug;45(8):1917-28., 2017. (impact factor = 3.3) PDF

  45. 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, vol. 17, no. 7, pp. 1952-1963, 2017. (impact factor = 3.78) PDF

  46. 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. 3, no. 1, pp. 1-11, 2016. (impact factor = 3.3) PDF

  47. 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, impact factor = 4.54) PDF

  48. 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. (impact factor = 5.7) PDF

  49. 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, 2023.

  2. A. Di Lallo, S. Yu, T.-H. Huang, T. C. Bulea, and H. Su, “High-performance soft wearable robots for human augmentation and gait rehabilitation,” in Soft Robotics in Rehabilitation, Elsevier, 2021, pp. 1–38. PDF

  3. Z. Guo, M. C.W. Leong, H. Su, K. Kwok, “Prospective Techniques for MRI-Guided Robot-Assisted Stereotactic Neurosurgery”, Handbook of Robotics and Image-Guided Surgery, Elsevier, 2019. PDF

  4. H. Su, G. Li, and G. S. Fischer, “Sensors, Actuators, and Robots for MRI-Guided Surgery and Interventions,” eds. J. Desai, Encyclopedia of Medical Robotics, World Scientific Publishers, 2018. PDF

  5. H. Su and G. S. Fischer, “High-field MRI-Compatible Needle Placement Robots for Prostate Interventions,” 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. Referred Conference Publications


    1. I. Fang, Y. Chen, Y. Wang, J. Zhang, Q. Zhang, J. Xu, X. He, W. Gao, H. Su, Y. Li, and C. Feng, “EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction.” arXiv, Mar. 08, 2024. PDF

    2. X. Zhou, S. Luo, G. Androwis, S. Adamovich, E. Nunez, and H. Su. "Robust Neural Network Network Controllers for Lower Limb Exoskeletons: A Deep Reinforcement Learning Approach", In International Conference on NeuroRehabilitation (ICNR), 2024. PDF

    3. V. Kapila, C. Lourido, and H. Su, “A Professional Development Program using a Low-Cost Exoskeleton Kit to Support Trainers in Translating Technical Research to Implementable Recommendations,” in 2022 ASEE Annual Conference & Exposition Proceedings, Minneapolis, MN, Aug. 2022, p. 40744. PDF

    4. K. Hunte, S. Chen, J. Yi, and H. Su, “Assist-As-Needed Control of a Wearable Lightweight Knee Robotic Device,” in 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, Jul. 2020, pp. 1477–1482. PDF

    5. 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

    6. 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

    7. S. Yu, H. Perez, J. Barkas, M. Mohamed, M. Eldaly, T.-H. Huang, X. Yang, H. Su, M. Del Mar Cortes, and D. J. Edwards, “A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals,” in 2019 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2019, p. V001T09A011. PDF

    8. J. Yang, T.-H. Huang, S. Yu, X. Yang, H. Su, A. M. Spungen, and C.-Y. Tsai, “Machine Learning Based Adaptive Gait Phase Estimation Using Inertial Measurement Sensors,” in 2019 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2019, p. V001T09A010. PDF | Code

    9. 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

    10. 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

    11. T.-H. Huang, J. Yang, E. Pushaj, V. Silvanov, S. Yu, X. Yang, H. Su, S.-H. Chang, and G. Francisco, “Soft Physiology Sensors and Machine Learning to Enhance Spinal Cord Injury and Stroke Rehabilitation Outcomes in Home Settings,” in 2019 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2019, p. V001T05A001. PDF

    12. J. Guo, S. Yu, Y. Li, T.-H. Huang, J. Wang, B. Lynn, J. Fidock, C.-L. Shen, D. Edwards, and H. Su, “A soft robotic exo-sheath using fabric EMG sensing for hand rehabilitation and assistance,” in 2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, Apr. 2018, pp. 497–503. PDF

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

    14. Y. Li, S.-H. Chang, G. Francisco, and H. Su, “Interaction Force Modeling for Joint Misalignment Minimization Toward Bio-Inspired Knee Exoskeleton Design,” in 2018 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2018, p. V001T10A011. PDF| Code

    15. R. Duan, S. Yu, G. Yue, R. Foulds, C. Feng, Y. Tian, and H. Su, “Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control,” in 2018 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2018, p. V001T06A003. PDF

    16. H. Cui, S. Yu, X. Yan, S.-H. Chang, G. Francisco, Q. Fu, and H. Su, “A Modular Approach for Lightweight Humanoid Hand Design Using High Torque Density Electric Actuators,” in 2018 Design of Medical Devices Conference, Minneapolis, Minnesota, USA, Apr. 2018, p. V001T10A012. PDF

    17. E. J. Park, J. Kang, H. Su, P. Stegall, D. L. Miranda, W.-H. Hsu, M. Karabas, N. Phipps, S. K. Agrawal, E. C. Goldfield, and C. J. Walsh, “Design and preliminary evaluation of a multi-robotic system with pelvic and hip assistance for pediatric gait rehabilitation,” in 2017 International Conference on Rehabilitation Robotics (ICORR), London, Jul. 2017, pp. 332–339.

    18. 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

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

    20. H. Su, Y. Ding, I. Galiana, J. Speeckaert, N. Karavas, P. Malcolm, C. Siviy, and C. J. Walsh, “Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension Assistance,” in Wearable Robotics: Challenges and Trends, vol. 16, J. González-Vargas, J. Ibáñez, J. L. Contreras-Vidal, H. Van Der Kooij, and J. L. Pons, Eds. Cham: Springer International Publishing, 2017, pp. 107–111.

    21. 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

    22. Z. Guo, T. Lun, Y. Chen, H. Su, C. Danny Tat Ming, and K.-W. Kwok, “Novel Design of an MR-Safe Pneumatic Stepper Motor for MRI-Guided Robotic Interventions,” presented at the Proceedings of The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2016.

    23. 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.

    24. W. Shang*, H. Su*, G. Li, and G. S. Fischer, “Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Nov. 2013, pp. 4092–4098.

    25. H. Su, D. C. Cardona, W. Shang, A. Camilo, G. A. Cole, D. C. Rucker, R. J. Webster, and G. S. Fischer, “A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study,” in 2012 IEEE International Conference on Robotics and Automation, St Paul, MN, USA, May 2012, pp. 1939–1945. (Best Medical Robotics Paper Award, Runner-up)

    26. 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/RSJ International Conference on Intelligent Robots and Systems, IROS, Spain, 2018.

    27. W. Shang, H. Su, G. Li, C. Furlong, and G. S. Fischer, “A Fabry-Perot interferometry based MRI-compatible miniature uniaxial force sensor for percutaneous needle placement,” in 2013 IEEE SENSORS, Baltimore, MD, USA, Nov. 2013, pp. 1–4.

    28. G. Li, H. Su, W. Shang, J. Tokuda, N. Hata, C. M. Tempany, and G. S. Fischer, “A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy,” Lake Buena Vista (Orlando Area), Florida, USA, Mar. 2013, p. 867117.

    29. W. Ji, J. D. Matte, G. Li, Y. Ma, H. Su, W. Shang, and G. S. Fischer, “Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions,” Journal of Medical Devices, vol. 7, no. 3, p. 030915, Sep. 2013.

    30. Y. Ma, I. Dobrev, W. Shang, H. Su, S. R. Janga, and G. S. Fischer, “CHIC: Cylindrical Helix Imaging Coordinate Registration Fiducial for MRI-guided interventions,” in 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Diego, CA, Aug. 2012, pp. 2808–2812.

    31. H. Su, W. Shang, K. Harrington, A. Camilo, G. Cole, J. Tokuda, N. Hata, C. Tempany, and G. S. Fischer, “A networked modular hardware and software system for MRI-guided robotic prostate interventions,” in SPIE Medical Imaging (Image-Guided Procedures, Robotic Interventions, and Modeling Conference), San Diego, California, USA, Feb. 2012, p. 83161Z.

    32. G. S. Fischer, G. Cole, and Hao Su, “Approaches to creating and controlling motion in MRI,” in 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, Aug. 2011, pp. 6687–6690. (Invited Paper)

    33. L. Dickstein-Fischer, E. Alexander, X. Yan, H. Su, K. Harrington, and G. S. Fischer, “An affordable compact humanoid robot for autism spectrum disorder interventions in children,” in 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, Aug. 2011, pp. 5319–5322.

    34. H. Su, I. I. Iordachita, X. Yan, G. A. Cole, and G. S. Fischer, “Reconfigurable MRI-guided robotic surgical manipulator: Prostate brachytherapy and neurosurgery applications,” in 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, Aug. 2011, pp. 2111–2114.

    35. H. Su, G. A. Cole, N. Hata, C. M. Tempany, and G. Fischer, “Real-time MRI-guided Transperineal Needle Placement Prostate Interventions with Piezoelectrically Actuated Robotic Assistance,” presented at the Radiological Society of North America 2011 Scientific Assembly and Annual Meeting, Chicago, IL, USA, Nov. 2011.

    36. H. Su, M. Zervas, C. Furlong, and G. S. Fischer, “A Miniature MRI-Compatible Fiber-optic Force Sensor Utilizing Fabry-Perot Interferometer,” in MEMS and Nanotechnology, Volume 4, T. Proulx, Ed. New York, NY: Springer New York, 2011, pp. 131–136.

    37. H. Su, M. Zervas, G. A. Cole, C. Furlong, and G. S. Fischer, “Real-time MRI-guided needle placement robot with integrated fiber optic force sensing,” in 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 1583–1588.

    38. H. B. Huang, H. Su, H. Y. Chen, and J. K. Mills, “Piezoelectric driven non-toxic injector for automated cell manipulation,” Studies in Health Technology and Informatics, vol. 163, pp. 231–235, 2011.

    39. H. Su, A. Camilo, G. Cole, C. Tempany, N. Hata and G. S. Fischer, “High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions,” IOS Press, 2011.

    40. 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,” 12th International Symposium on Experimental Robotics (ISER2010), New Delhi & Agra, India, 2010

    41. H. Su, L. Dickstein, and G.S. Fischer, “Cable-Driven Elastic Parallel Humanoid Head with Face Tracking for Autism Spectrum Disorder Interventions,” In Proceedings of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Buenos Aires, Argentina, 2010.

    42. Y. Wang, H. Su, K. Harrington, and G. Fischer, “Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for MRI-Compatible Robotic Intervention,” ASME Dynamic Systems and Control Conference, Boston, USA, 2010.

    43. H. Su, W. Shang, G. Cole, K. Harrington, and G. Fischer, “Design of a Haptic Device for MRI-Guided Prostate Needle Brachytherapy,” IEEE Haptics Symposium, Boston, USA, 2010.

    44. H. Su and G. Fischer, “A 3-Axis Optical Force/Torque Sensor for Prostate Needle Placement in Magnetic Resonance Imaging Environments,” IEEE International Conference on Technologies for Practical Robot Applications, Boston, USA, 2009.

    45. Y. Wang G. Cole, H. Su, J. Pilitsis, G. Fischer, “MRI Compatibility Evaluation of a Piezoelectric Actuator System for a Neural Interventional Robot,” International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Minneapolis, USA, 2009.


    Workshops and Conference Abstracts


    1. W. Gao, J. Zhu, M. Jiang, S. Zhang, I. Lopez-Sanchez, and H. Su, Learning in Simulation for Autonomous Control of Wearable Robots and Surgical Robots. Duke Medical Robotics Symposium 2024. Duke’s School of Medicine Campus, Durham, NC, USA (October 2024). Poster

    2. E. Lu, S. Zhang, J. Zhu, J. S. Huang, I. Lopez-Sanchez, Z. Hou, and H. Su, Collocated Impedance Control and High-fidelity Torque Estimation for a Lightweight Exoskeleton in Community Setting. Duke Medical Robotics Symposium 2024. Duke’s School of Medicine Campus, Durham, NC, USA (October 2024). Poster

    3. W. Gao, A. Di Lallo, J. S. Huang, and H. Su, Restoring Functional Upper Limb Movements with Powered Soft Shoulder Exosuits for individuals with Amyotrophic Lateral Sclerosis. Duke Medical Robotics Symposium 2024. Duke’s School of Medicine Campus, Durham, NC, USA (October 2024). Poster

    4. 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

    5. J. Zhou, W. Zhou, and H. Su, A High Torque Density and Highly Compliant 7-DOF Collaborative Robotic Arm. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) . Boston, MA, USA (July 2024). PDF | Poster

    6. 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

    7. 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

    8. 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

    9. 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

    10. 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

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

    12. 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

    13. 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

    14. 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

    15. 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

    16. 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

    17. 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

    18. 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

    19. 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

    20. 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

    21. 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

    22. 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

    23. 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

    24. 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

    25. 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

    26. 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

    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






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