Biomechatronics and Intelligent Robotics Lab

Publications

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 PDF | PDF Supplementary Materials | PDF Editor Perspective | Video | Fox News Report | Fox News Video | Yahoo! | AOL | Popular Science | WRAL News | NCSU Engineering News | NSF News | NSF News PDF | PBS (YouTube) | PBS

  2. Y. Gu, G. Shi, F. Shi, I.-C. Chang, Y.-J. Wang, Q. Cheng, Z. Olkin, I. Lopez-Sanchez, Y. Feng, J. Zhang, A. D. Ames, H. Su, and K. Sreenath, “Evolution of humanoid locomotion control,” Science Robotics, vol. 11, no. 117, Art. no. eaed3973, Aug. 2026. Full Text | DOI

  3. J. Zhou, W. Gao, J. S. Huang, K. Lin, W. Wu, and H. Su, “PositiveAssist: Energy-gated control for positive power assistance of exoskeleton in walking, running, and stair climbing,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 4, pp. 4801–4809, Aug. 2026. PDF PDF | Video

  4. W. Gao, N. Srinivasan, D. Piao, Q. Fan, M. Guo, R. Li, P. Patalano, and H. Su, “LegoBot: Modular, compact, device-agnostic robot for endovascular catheter and guidewire manipulation in stroke thrombectomy,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 4, pp. 4747–4755, Aug. 2026. PDF PDF | Video | GitHub | Open Science Framework | IEEE DataPort

  5. H. Su, Y. Cui, C. Della Santina, K. Fang, J. Kober, Y. Li, Y. Li, T. Matsubara, M. Pozzi, and B. Zhou, “Embodied AI: Bridging robotics and AI toward real-world applications,” IEEE Robotics & Automation Magazine, vol. 33, no. 1, pp. 6–7, Mar. 2026. PDF PDF

  6. D. Soleymanzadeh, I. Lopez-Sanchez, H. Su, Y. Li, X. Liang, and M. Zheng, “Toward generalist neural motion planners for robotic manipulators: Challenges and opportunities,” IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 4488–4531, 2026. PDF PDF

  7. Z. You, N. Ratnakumar, B. Shen, H. Su, and X. Zhou, “Optimizing sensor and data selection on lower limbs via deep learning for real-time human activity recognition,” IEEE Transactions on Human-Machine Systems, vol. 56, no. 2, pp. 321–330, Apr. 2026. PDF PDF

  8. H. Modi, H. Su, X. Liang, and M. Zheng, “MorphoCopter: Design, modeling, and control of a new transformable quad-bi copter,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 3, pp. 3277–3288, Jun. 2026. PDF PDF

  9. Y. Yan, J. S. Huang, J. Zhu, Z. Hou, W. Gao, I. Lopez-Sanchez, N. Srinivasan, A. Srihari, and H. Su, “Compact and foldable hip exoskeleton with high torque density actuator for walking and stair-climbing assistance in young and older adults,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 4, pp. 4467–4477, Aug. 2026. PDF PDF | Video

  10. N. T. Kantu, W. Gao, N. Srinivasan, G. D. Buckner, and H. Su, “Portable and versatile catheter robot for image-guided cardiovascular interventions,” IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 7985–7994, Dec. 2025. PDF PDF | Video | GitHub

  11. D. Rodríguez-Jorge, S. Zhang, J. S. Huang, I. Lopez-Sanchez, N. Srinivasan, Q. Zhang, X. Zhou, and H. Su, “Biomechanics-informed mechatronics design of comfort-centered portable hip exoskeleton: Actuator, wearable interface, controller,” IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 2, pp. 687–698, May 2025. PDF PDF

  12. S. Yu, L. Liu, S. Zhang, A. Di Lallo, J. Zhu, Q. Wu, G. Zuo, X. Zhou, and H. Su, “Controlling negative and positive power for efficiency enhancement and muscle strain mitigation during squatting with a portable knee exoskeleton,” Annals of Biomedical Engineering, vol. 53, no. 6, pp. 1344–1358, Jun. 2025. PDF PDF

  13. 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, Art. no. 6247, Jul. 2024. PDF PDF | Video

  14. Y. Li, S. Yu, H. Qing, Y. Hong, Y. Zhao, F. Qi, H. Su*, and J. Yin*, “Reprogrammable and reconfigurable mechanical computing metastructures with stable and high-density memory,” Science Advances, vol. 10, no. 26, Art. no. eado6476, Jun. 2024. (*corresponding authors) PDF PDF | Video

  15. A. Di Lallo*, S. Yu*, J. E. Slightam, G. X. Gu, J. Yin, and H. Su, “Untethered fluidic engine for high-force soft wearable robots,” Advanced Intelligent Systems, vol. 6, no. 11, Art. no. 2400171, Nov. 2024. PDF PDF | Video

  16. D. Kruse, L. Schur, H.-A. Johnson-Marcus, L. Gilbert, A. Di Lallo, W. Gao, and H. Su, “Assistive technology’s potential to improve employment of people with disabilities,” Journal of Occupational Rehabilitation, vol. 34, no. 2, pp. 299–315, Jun. 2024. PDF PDF

  17. W. Liu, 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, vol. 6, no. 1, Art. no. e12105, Mar. 2024. PDF PDF

  18. 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, Art. no. 103109, Feb. 2024. PDF PDF | Video

  19. 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, Art. no. 051011, Oct. 2023. (Honorable Mention for the 2023 Journal of Mechanisms and Robotics Best Paper Award) PDF PDF

  20. Y. Zhao, Y. Hong, Y. Li, F. Qi, H. Qing, H. Su, and J. Yin, “Physically intelligent autonomous soft robotic maze escaper,” Science Advances, vol. 9, no. 36, Art. no. eadi3254, Sep. 2023. PDF PDF | Video

  21. M. A. Normand, J. Lee, H. Su, and J. S. Sulzer, “The effect of hip exoskeleton weight on kinematics, kinetics, and electromyography during human walking,” Journal of Biomechanics, vol. 152, Art. no. 111552, May 2023. PDF PDF

  22. 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,” Journal of NeuroEngineering and Rehabilitation, vol. 20, no. 1, Art. no. 34, Mar. 2023. PDF PDF

  23. S. Yu, J. Yang, T.-H. Huang, J. Zhu, C. J. Visco, F. Hameed, J. Stein, X. Zhou, and H. Su, “Artificial neural network-based activities classification, gait phase estimation, and prediction,” Annals of Biomedical Engineering, vol. 51, no. 7, pp. 1471–1484, Jul. 2023. PDF PDF

  24. 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 preprint, Sep. 2023. PDF PDF

  25. 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, vol. 16, Art. no. 1018160, Nov. 2022. PDF PDF

  26. Z. Chen, C. Liu, H. Su, X. Liang, and M. Zheng, “A hybrid disturbance observer for delivery drone’s oscillation suppression,” Mechatronics, vol. 88, Art. no. 102907, Dec. 2022. PDF PDF

  27. 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, vol. 35, no. 7, Art. no. 2207372, Feb. 2023. PDF PDF | Video

  28. S.-H. Chang, S.-C. Tseng, H. Su, and G. E. Francisco, “Editorial: How can wearable robotic and sensor technology advance neurorehabilitation?” Frontiers in Neurorobotics, vol. 16, Art. no. 1033516, Oct. 2022. PDF PDF

  29. T. C. Bulea, N. Sharma, S. Sikdar, and H. Su, “Editorial: Next generation user-adaptive wearable robots,” Frontiers in Robotics and AI, vol. 9, Art. no. 920655, Jun. 2022. PDF PDF

  30. T.-H. Huang*, S. Zhang*, S. Yu, M. K. MacLean, J. Zhu, A. Di Lallo, C. Jiao, T. C. Bulea, M. Zheng, and H. Su, “Modeling and stiffness-based continuous torque control of lightweight quasi-direct-drive knee exoskeletons for versatile walking assistance,” IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1442–1459, Jun. 2022. PDF PDF | Video

  31. 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,” 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) PDF PDF | Video | AIM2022 Presentation Video

  32. H. Su, K.-W. Kwok, K. Cleary, I. Iordachita, M. C. Cavusoglu, J. P. Desai, and G. S. Fischer, “State of the art and future opportunities in MRI-guided robot-assisted surgery and interventions,” Proceedings of the IEEE, vol. 110, no. 7, pp. 968–992, Jul. 2022. PDF PDF

  33. M. Gonzalez, H. Su, and Q. Fu, “Age-dependent upper limb myoelectric control capability in typically developing children,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1009–1018, 2022. PDF PDF

  34. T. Afzal, F. Zhu, S.-C. Tseng, J. A. Lincoln, G. E. 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. 69, no. 10, pp. 3265–3274, Oct. 2022. PDF PDF

  35. Y. Chen, X. Li, H. Su, D. Zhang, and H. Yu, “Design of a bio-inspired gait phase decoder based on temporal convolution network architecture with contralateral surface electromyography toward hip prosthesis control,” Frontiers in Neurorobotics, vol. 16, Art. no. 791169, May 2022. PDF PDF

  36. C. Buckner, R. Miikkulainen, S. Forrest, S. Milano, J. Zou, C. Prunk, C. Irrgang, I. Cohen, H. Su, R. Murphy, and R. Taylor, “AI reflections in 2021,” Nature Machine Intelligence, vol. 4, pp. 5–10, Jan. 2022. PDF PDF

  37. 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,” Frontiers in Robotics and AI, vol. 8, Art. no. 702845, Jul. 2021. PDF PDF

  38. S. Chen, D. T. Stevenson, S. Yu, M. Mioskowska, J. Yi, H. Su, and M. Trkov, “Wearable knee assistive devices for kneeling tasks in construction,” IEEE/ASME Transactions on Mechatronics, vol. 26, no. 4, pp. 1989–1996, Aug. 2021. PDF PDF

  39. A. Gao, R. R. Murphy, W. Chen, G. Dagnino, P. Fischer, M. G. Gutierrez, D. Kundrat, B. J. Nelson, N. Shamsudhin, H. Su, J. Xia, A. Zemmar, D. Zhang, C. Wang, and G.-Z. Yang, “Progress in robotics for combating infectious diseases,” Science Robotics, vol. 6, no. 52, Art. no. eabf1462, Mar. 2021. PDF PDF

  40. H. Su, A. Di Lallo, R. R. Murphy, R. H. Taylor, B. T. Garibaldi, and A. Krieger, “Physical human–robot interaction for clinical care in infectious environments,” Nature Machine Intelligence, vol. 3, no. 3, pp. 184–186, Mar. 2021. PDF PDF

  41. 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,” IEEE Robotics & Automation Magazine, vol. 28, no. 1, pp. 18–27, Mar. 2021. PDFPDF

  42. G. Li, N. A. Patel, E. C. Burdette, J. G. 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, vol. 26, no. 1, pp. 255–266, Feb. 2021. PDF PDF

  43. S. Yu, T.-H. Huang, X. Yang, C. Jiao, J. Yang, Y. Chen, J. Yi, and 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) PDF PDF | Presentation Video | Short Demo Video | Code | Award

  44. Y. Tang, Y. Chi, J. Sun, T.-H. Huang, O. H. Maghsoudi, A. Spence, J. Zhao, H. Su, and J. Yin, “Leveraging elastic instabilities for amplified performance: Spine-inspired high-speed and high-force soft robots,” Science Advances, vol. 6, no. 19, Art. no. eaaz6912, May 2020. PDF PDF | Supplementary Materials | Video

  45. S. Yu, T.-H. Huang, D. Wang, B. Lynn, D. Sayd, V. Silivanov, Y. S. Park, Y. Tian, and 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, vol. 4, no. 4, pp. 4579–4586, Oct. 2019. PDF PDF | Video

  46. X. Yang, T.-H. Huang, H. Hu, S. Yu, S. Zhang, X. Zhou, A. Carriero, G. Yue, and H. Su, “Spine-inspired continuum soft exoskeleton for stoop lifting assistance,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4547–4554, Oct. 2019. PDF PDF | Video

  47. Y. Chen, I. Godage, H. Su, A. Song, and H. Yu, “Stereotactic systems for MRI-guided neurosurgeries: A state-of-the-art review,” Annals of Biomedical Engineering, vol. 47, no. 2, pp. 335–353, Feb. 2019. PDF PDF

  48. J. Wang, X. Li, T.-H. Huang, S. Yu, Y. Li, T. Chen, A. Carriero, M. Oh-Park, and 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 PDF | Video | Code

  49. Z. Guo, M. C.-W. Leong, H. Su, K.-W. Kwok, D. T.-M. Chan, and W.-S. Poon, “Techniques for stereotactic neurosurgery: Beyond the frame, toward the intraoperative magnetic resonance imaging-guided and robot-assisted approaches,” World Neurosurgery, vol. 116, pp. 77–87, Aug. 2018. PDF PDF

  50. 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, May 2017. PDF PDF

  51. H. Su, W. Shang, G. Li, N. Patel, 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, vol. 45, no. 8, pp. 1917–1928, Aug. 2017. PDF PDF

  52. H. Su, I. I. Iordachita, J. Tokuda, N. Hata, X. Liu, R. Seifabadi, S. Xu, B. Wood, and G. S. Fischer, “Fiber-optic force sensors for MRI-guided interventions and rehabilitation: A review,” IEEE Sensors Journal, vol. 17, no. 7, pp. 1952–1963, Apr. 2017. PDF PDF

  53. 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. 2863–2873, Oct. 2016. PDF PDF

  54. G. Li*, H. Su*, G. A. Cole, W. Shang, K. Harrington, A. Camilo, J. G. Pilitsis, and G. S. Fischer, “Robotic system for MRI-guided stereotactic neurosurgery,” IEEE Transactions on Biomedical Engineering, vol. 62, no. 4, pp. 1077–1088, Apr. 2015. (*shared first authorship) PDF PDF

  55. H. Su, W. Shang, G. Cole, G. Li, K. Harrington, A. Camilo, J. Tokuda, C. M. Tempany, N. Hata, and 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, Aug. 2015. PDF PDF

  56. 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, Art. no. 030915, Sep. 2013.

    57. Patents and Patent Applications


    1. A. Mehendale, F. Sahin, G. Cole, H. Su, and V. Parthasarathy, “Virtually-oriented electromagnetic tracking coil for catheter based navigation,” U.S. Patent 10,966,629, Apr. 6, 2021.


    2. A. Mehendale, F. Sahin, G. Cole, H. Su, and V. Parthasarathy, “Virtually-oriented electromagnetic tracking system for medical instrument navigation,” U.S. Patent 11,925,453, Mar. 12, 2024.


    3. G. Cole, H. Su, and V. Parthasarathy, “A system for enhancing clinical workflow in navigation bronchoscopy procedures.”


    4. H. Su, G. Cole, and V. Parthasarathy, “Steerable catheter with articulated revolute joints.”


    5. H. Su, G. Cole, and V. Parthasarathy, “Handheld catheter driver with endoscope mount utilizing friction-driven wheel mechanism,” U.S. Patent 10,667,673, Jun. 2, 2020.


    6. H. Su, G. Cole, and V. Parthasarathy, “Rotatable stabilizer for use of catheter inside an endoscope,” U.S. Patent Application 2017/0224202, Aug. 10, 2017.


    7. G. S. Fischer and H. Su, “System and method for underactuated control of insertion path for asymmetric tip needles,” U.S. Patent 10,052,458, Aug. 21, 2018.


    8. G. S. Fischer and H. Su, “System and method for underactuated control of insertion path for asymmetric tip needles,” U.S. Patent 11,207,500, Dec. 28, 2021.


    9. G. S. Fischer and H. Su, “Apparatus and methods for MRI-compatible haptic interface,” U.S. Patent Application 2012/0265051, Oct. 18, 2012.



    Book Chapters


    1. R. Mendonca, C. Wamsley, C.-Y. Tsai, H. Su, and M. Johnson, “Stroke and rehabilitation robotics in the USA,” in Rehabilitation Robots for Neurorehabilitation in High-, Low-, and Middle-Income Countries, R. Mendonca and M. Johnson, Eds. Elsevier, 2024.

    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 PDF

    3. Z. Guo, M. C.-W. Leong, H. Su, K.-W. Kwok, D. T.-M. Chan, and W.-S. Poon, “Prospective techniques for magnetic resonance imaging–guided robot-assisted stereotactic neurosurgery,” in Handbook of Robotic and Image-Guided Surgery. Elsevier, 2020, pp. 585–598. PDF PDF

    4. H. Su, G. Li, and G. S. Fischer, “Sensors, actuators, and robots for MRI-guided surgery and interventions,” in The Encyclopedia of Medical Robotics, J. P. Desai, Ed. World Scientific, 2018, pp. 201–231. PDF PDF

    5. H. Su and G. S. Fischer, “High-field MRI-compatible needle placement robots for prostate interventions,” in Advances in Robotics and Virtual Reality, T. Gulrez and A. Hassanien, Eds. Springer, 2011. PDF PDF

    6. H. Huang, H. Su, and C. Ru, “Design and evaluation of a piezo-driven ultrasonic cell injector,” in Prototyping of Robotic Systems: Applications of Design and Implementation, T. Sobh and X. Xiong, Eds. IGI Global, 2012, pp. 327–355.

    7. H. Huang, D. Sun, H. Su, and J. K. Mills, “Force sensing and control in robot-assisted suspended cell injection system,” in Advances in Robotics and Virtual Reality, T. Gulrez and A. Hassanien, Eds. Springer, 2012, pp. 61–88.


      8. Refereed 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,” in 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024, pp. 3036–3043. PDF PDF

      2. X. Zhou, S. Luo, G. Androwis, S. Adamovich, E. Nunez, and H. Su, “Robust neural network controllers for lower limb exoskeletons: A deep reinforcement learning approach,” in International Conference on NeuroRehabilitation (ICNR 2024), Biosystems & Biorobotics. Springer, 2025, pp. 555–559. PDF 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, Minneapolis, MN, USA, 2022, Paper 40744. PDF 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 PDF

      5. L. J. Salmeron, G. V. Juca, S. M. Mahadeo, J. Ma, S. Yu, and H. Su, “An untethered electro-pneumatic exosuit for gait assistance of people with foot drop,” in 2020 Design of Medical Devices Conference (DMD), Minneapolis, MN, USA, Apr. 2020, Art. no. V001T09A009. (Three-in-Five Student Design Competition, Runner Up) PDF PDF | Video | Competition Video | Certificate , Certificate

      6. J. Yuen, K. Nogacz, Y. C. Chi, F. Ferdousi, S. Yu, T.-H. Huang, G. Yue, and H. Su, “The Oxeous back-support exoskeleton: Soft, active suit to reduce spinal loading,” in 2019 Design of Medical Devices Conference (DMD), Minneapolis, MN, USA, 2019. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2019, Art. no. V001T09A011. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2019, Art. no. V001T09A010. PDF PDF | Code

      9. E. Pushaj, V. Singh, A. Shohatee, M. Babu, H. Su, and T.-H. Huang, “Soft ankle exoskeleton for gait assistance of children with cerebral palsy in home settings,” in 2019 Design of Medical Devices Conference (DMD), Minneapolis, MN, USA, 2019. PDF PDF

      10. S. M. Mahadeo, T.-H. Huang, A. Zych, D. Sanakov, and H. Su, “A smart cooling vest for people with thermoregulatory disorder,” in 2019 Design of Medical Devices Conference (DMD), Minneapolis, MN, USA, 2019. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2019, Art. no. V001T05A001. PDF 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, Italy, Apr. 2018, pp. 497–503. PDF 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, AZ, USA, 2018. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2018, Art. no. V001T10A011. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2018, Art. no. V001T06A003. PDF 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 (DMD), Minneapolis, MN, USA, Apr. 2018, Art. no. V001T10A012. PDF 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, U.K., Jul. 2017, pp. 332–339. PDF PDF

      18. 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.

      19. 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, J. González-Vargas, J. Ibáñez, J. L. Contreras-Vidal, H. van der Kooij, and J. L. Pons, Eds. Cham, Switzerland: Springer, 2017, pp. 107–111. PDF PDF

      20. Z. Guo, T. Lun, Y. Chen, H. Su, D. T.-M. Chan, and K.-W. Kwok, “Novel design of an MR-safe pneumatic stepper motor for MRI-guided robotic interventions,” presented at the Hamlyn Symposium on Medical Robotics, London, U.K., 2016.

      21. E. Goldfield, E. Park, J. Kang, H. Su, P. Stegall, S. Agrawal, and C. J. Walsh, “Multi-robot cyber-physical system for assisting young developmentally-delayed children in learning to walk,” presented at the NSF Cyber-Physical Systems Principal Investigators’ Meeting, Arlington, VA, USA, 2016.

      22. 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 (IROS), Tokyo, Japan, Nov. 2013, pp. 4092–4098.

      23. H. Su, D. C. Cardona, W. Shang, A. Camilo, G. A. Cole, D. C. Rucker, R. J. Webster III, 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 (ICRA), St. Paul, MN, USA, May 2012, pp. 1939–1945. (Best Medical Robotics Paper Award, Runner-up)

      24. J. Wang, X. Li, T.-H. Huang, S. Yu, Y. Li, T. Chen, A. Carriero, M. Oh-Park, and H. Su, “Comfort-centered design of a lightweight and backdrivable knee exoskeleton,” presented at the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct. 2018 (published in IEEE Robotics and Automation Letters).

      25. 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.

      26. 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,” in Proc. SPIE 8671, Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling, Lake Buena Vista, FL, USA, Mar. 2013, Art. no. 867117.

      27. 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 (EMBC), San Diego, CA, USA, Aug. 2012, pp. 2808–2812.

      28. 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 Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, CA, USA, Feb. 2012, Art. no. 83161Z.

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

      30. 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 (EMBC), Boston, MA, USA, Aug. 2011, pp. 5319–5322.

      31. 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 (EMBC), Boston, MA, USA, Aug. 2011, pp. 2111–2114.

      32. H. Su, G. A. Cole, N. Hata, C. M. Tempany, and G. S. 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 (RSNA), Chicago, IL, USA, Nov. 2011.

      33. 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, USA: Springer, 2011, pp. 131–136.

      34. 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 (ICRA), Shanghai, China, May 2011, pp. 1583–1588.

      35. H. B. Huang, H. Su, H. Y. Chen, and J. K. Mills, “Piezoelectric driven non-toxic injector for automated cell manipulation,” in Medicine Meets Virtual Reality 18, Studies in Health Technology and Informatics, vol. 163. IOS Press, 2011, pp. 231–235.

      36. H. Su, A. Camilo, G. A. Cole, N. Hata, C. M. Tempany, and G. S. Fischer, “High-field MRI-compatible needle placement robot for prostate interventions,” in Medicine Meets Virtual Reality 18, Studies in Health Technology and Informatics, vol. 163. IOS Press, 2011.

      37. G. A. Cole, K. Harrington, H. Su, A. Camilo, J. G. Pilitsis, and G. S. Fischer, “Closed-loop actuated surgical system utilizing real-time in-situ MRI guidance,” in Experimental Robotics: The 12th International Symposium on Experimental Robotics (ISER 2010), Springer Tracts in Advanced Robotics. Springer, 2014, pp. 785–798. PDF PDF

      38. H. Su, L. Dickstein-Fischer, K. Harrington, Q. Fu, W. Lu, H. Huang, G. Cole, and G. S. Fischer, “Cable-driven elastic parallel humanoid head with face tracking for autism spectrum disorder interventions,” in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Buenos Aires, Argentina, Aug. 2010, pp. 467–470.

      39. Y. Wang, H. Su, K. Harrington, and G. S. Fischer, “Sliding mode control of piezoelectric valve regulated pneumatic actuator for MRI-compatible robotic intervention,” in ASME 2010 Dynamic Systems and Control Conference, Cambridge, MA, USA, 2010, pp. 23–28.

      40. H. Su, W. Shang, G. A. Cole, K. Harrington, and G. S. Fischer, “Haptic system design for MRI-guided needle based prostate brachytherapy,” in 2010 IEEE Haptics Symposium, Waltham, MA, USA, Mar. 2010, pp. 483–488.

      41. H. Su and G. S. Fischer, “A 3-axis optical force/torque sensor for prostate needle placement in magnetic resonance imaging environments,” in 2009 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA, Nov. 2009, pp. 5–9.

      42. Y. Wang, G. A. Cole, H. Su, J. G. Pilitsis, and G. S. Fischer, “MRI compatibility evaluation of a piezoelectric actuator system for a neural interventional robot,” in 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Minneapolis, MN, USA, Sep. 2009, pp. 6072–6075.


      Workshops and Conference Abstracts


        • W. Gao, N. Srinivasan, J. Zhou, and H. Su, “Compact endoscopic robot for transnasal surgery with direct-drive electric actuation and ultra-steerable catheters,” presented at the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, May 2025.

        • J. Zhou, W. Gao, and H. Su, “A compact and versatile catheter robot for invasive cardiac and neurovascular interventions,” presented at the 2025 Northeast Bioengineering Conference (NEBEC), Brooklyn, NY, USA, Mar. 2025. PDF PDF| Poster

        • W. Gao, J. Zhou, and H. Su, “A compact endoscopic robot with ultra-steerable catheters for transnasal and intraventricular neurosurgery,” presented at the 2025 Northeast Bioengineering Conference (NEBEC), Brooklyn, NY, USA, Mar. 2025. PDF PDF| Poster

        • W. Gao, J. Zhou, A. Di Lallo, and H. Su, “Soft exosuit for shoulder assistance toward individuals with amyotrophic lateral sclerosis,” presented at the 2025 Northeast Bioengineering Conference (NEBEC), Brooklyn, NY, USA, Mar. 2025. PDF PDF| Poster | Poster PPT

        • J. Zhou, W. Gao, I. Sanchez, and H. Su, “Experiment-free assistance of a portable, unobtrusive and compact hip exoskeleton via learning in simulation,” presented at the 2025 Northeast Bioengineering Conference (NEBEC), Brooklyn, NY, USA, Mar. 2025. (Oral) PDF PDF| Poster

        • W. Gao, J. Zhu, M. Jiang, S. Zhang, I. Lopez-Sanchez, P. Codd, and H. Su, “Learning in simulation for autonomous control of wearable robots and surgical robots,” presented at the Duke Medical Robotics Symposium, Durham, NC, USA, Oct. 2024. PDF PDF | Poster

        • 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,” presented at the Duke Medical Robotics Symposium, Durham, NC, USA, Oct. 2024. PDF Poster

        • 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,” presented at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, Jul. 2024. PDF PDF

        • J. Zhou, W. Zhou, and H. Su, “A high torque density and highly compliant 7-DOF collaborative robotic arm,” presented at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, Jul. 2024. PDF PDF | Poster

        • M. Jiang, J. Zhu, S. Zhang, and H. Su, “Experiment-free exoskeleton assistance via reinforcement learning in simulation saves energetics during human locomotion,” presented at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, Jul. 2024. PDF PDF

        • 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,” presented at Dynamic Walking, Pensacola, FL, USA, May 2024. PDF PDF

        • 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,” presented at Dynamic Walking, Pensacola, FL, USA, May 2024. PDF PDF

        • S. Luo, M. Jiang, S. Zhang, I. Dominguez, I. Lopez-Sanchez, and H. Su, “A learning in simulation approach for exoskeletons,” presented at Dynamic Walking, Pensacola, FL, USA, May 2024. PDF PDF

        • 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,” presented at Dynamic Walking, Pensacola, FL, USA, May 2024. PDF PDF

        • A. Di Lallo, S. Yu, N. Srinivasan, and H. Su, “Unleashing fluid-driven soft wearable robots,” presented at the IEEE International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, Apr. 2024. PDF PDF

        • J. S. Huang, J. Zhu, I. Dominguez, C. Tsai, N. Y. Harel, and H. Su, “Lightweight and modular hip and knee exoskeletons for mobility assistance in community settings,” presented at the Assistive Robotics for Citizens Workshop, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. PDF PDF | Poster

        • I. Dominguez, S. Luo, R. Wu, and H. Su, “Reinforcement learning through physics-based and data-driven approaches for exoskeleton control in the real world,” presented at the Workshop on Neuromechanics Meets Deep Learning, 2023 IEEE International Conference on Robotics and Automation (ICRA), London, U.K., 2023. PDF PDF | Poster

        • I. Dominguez, S. Yu, S. Zhang, J. Zhu, and H. Su, “Hip exoskeletons for mobility augmentation: Mechatronics design,” presented at the International Symposium on Medical Robotics (ISMR), GA, USA, 2023. PDF PDF | Poster

        • 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,” presented at the International Symposium on Medical Robotics (ISMR), GA, USA, 2023. PDF PDF | Poster

        • S. Yu, T.-H. Huang, C. Jiao, H. Hu, S. Zhang, and H. Su, “A lightweight and high torque hip exoskeleton with quasi-direct drive actuation for independent living assistance,” presented at Dynamic Walking, PA, USA, 2020. PDF PDF | Poster PDF | Poster PPT | Video

        • H. Hu, A. Di Lallo, S. Yu, T.-H. Huang, S. Zhang, and H. Su, “Lightweight, backdrivable, and high-bandwidth knee exoskeleton with quasi-direct drive actuation,” presented at Dynamic Walking, PA, USA, 2020. PDF PDF | Poster | Video

        • S. Yu, T.-H. Huang, M. Zhang, S. Zhang, and H. Su, “A quasi-direct-drive knee soft exoskeleton for musculoskeletal injury prevention,” presented at the IEEE International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019. PDF PDF

        • K. Alonso, L. Baraldi, A. Chowdhury, S. Gaggenapally, S. Gonzalez, D. Tran, S. Yu, X. Yang, and H. Su, “Untethered high force hydraulic artificial muscles for soft wearable robots,” presented at the IEEE International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019. PDF PDF

        • X. Yang, T.-H. Huang, H. Hu, S. Yu, S. Zhang, V. Rodrigues, and H. Su, “A spine-inspired soft exoskeleton for lifting assistance,” presented at the IEEE International Conference on Soft Robotics (RoboSoft), Seoul, South Korea, 2019. PDF PDF

        • J. Yang, T.-H. Huang, A. Kashyap, S. Yu, X. Sun, and H. Su, “Fabric EMG sensors for monitoring and spasticity detection of individuals with spinal cord injury and stroke,” presented at the IEEE International Conference on Soft Robotics (RoboSoft), Seoul, South Korea, 2019. PDF PDF

        • S. Yu, T.-H. Huang, M. Zhang, S. Zhang, and H. Su, “A quasi-direct-drive knee exoskeleton for musculoskeletal injury prevention,” presented at the IEEE International Conference on Soft Robotics (RoboSoft), Seoul, South Korea, 2019. PDF PDF

        • S. Yu, X. Yang, T.-H. Huang, S. Zhang, H. Hu, S. Guguloth, and H. Su, “Lightweight and high torque hybrid soft exoskeletons for walking and squatting assistance,” presented at Dynamic Walking, AB, Canada, 2019. PDF PDF

        • Y. Li, S. Yu, T.-H. Huang, J. Wang, X. Li, and H. Su, “A quasi-direct-drive cable actuation system for interaction-safe knee exoskeleton design,” presented at Dynamic Walking, FL, USA, 2018. PDF PDF

      Mentored Students’ Research Work


      1. Quinn Fonner, Hao Su, “Knee Plug & Play Exoskeleton for Knee Osteoarthritis”, NCSU MAE REU poster, 2025 PDF PDF

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





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