Faculty
FU Chenglong
Professor, Director of Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems
Head of Department
0755-88015355
Prof. Chenglong Fu obtained his B.S. from the Department of Mechanical Engineering, Tongji University in 2002 and Ph.D. from the Department of Precision Instruments and Mechanology, Tsinghua University, in 2007. His research interests include dynamic walking, biped and humanoid robots, powered prosthesis, exoskeletons and SuperLimbs. He is the principal investigator of more than 30 research projects. He has published more than 140 papers and holds more than 30 granted patents. He is an Associate Editor of Robotica (Cambridge University Press, Est. 1983) and workshop co-chair of IEEE-RAS Humanoids 2018-2020; co-organizer in IROS 2019 Workshop (Supernumerary Robotic Limbs); Local Chair, Special Session Chair, and Organizing Chair of IEEE ARM 2020-2023, Associate Editor of IROS 2021-2023; Publicity Committee Co-Chair of ICRA 2021 and Associate Editor of ICRA 2022. He received the Best Student Paper Award Finalist from 2019 IEEE Int. Conf. on Advanced Robotics and its Social Impacts, the Best Student Paper Award from 2020 IEEE Int. Conf. on Advanced Robotics and Mechatronics, the Best Conference Paper Finalist from 2021 IEEE Int. Conf. on Advanced Robotics and Mechatronics, and the Best Paper Award Finalist form 2021 IEEE Int. Conf. on Mechatronics and Machine Vision in Practice. He obtained 2022 First Prize of Shenzhen Science and Technology Progress Award, and 2022 Second prize of Science and Technology Progress Award of Chinese Association of Automation.
Walking is a basic human activity which deserves scientific understanding. My research focuses on the predictive principles underlying dynamic walking of humans and robots in complex environments. These principles are important not only for robotics, but also for rehabilitation and human movement science. In 2016, I set up the Human-Augmented Robotics Lab (HARL) in SUSTech. Research topics of the HARL include predictive walking principles, powered prosthesis, lower-limb exoskeleton, suspended backpack, and SuperLimbs.
Education
◆ 2002.09~2006.12，Ph.D. ME, Tsinghua University, Beijing, China
◆ 1998.09~2002.07，B.S. ME, Tongji University, Shanghai, China
Work Experience
◆2022.12 ~ present, Southern University of Science and Technology, Head of Department of Mechanical and Energy Engineering, Director of Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems
◆ 2020.04 ~ 2022.12, Southern University of Science and Technology, Tenured Full Professor of the Department of Mechanical and Energy Engineering, Deputy Head of Department (Research), Director of Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems
◆ 2016.11 ~ 2020.04, Southern University of Science and Technology, Tenured Associate Professor of the Department of Mechanical and Energy Engineering
◆ 2010.12 ~ 2017.01, Tsinghua University, Associate Professor of the Department of Mechanical Engineering
◆ 2011.09~2012.09, University of Michigan (Ann Arbor), Visiting Scholar of the Department of Mechanical Engineering
◆ 2007.02~2010.12, Tsinghua University, Assistant Professor of the Department of Precise Instruments and Mechanology
Awards & Honors
◆ 2022, First Prize of Shenzhen Science and Technology Progress Award, First consummator
◆ 2022, Second prize of Science and Technology Progress Award of Chinese Association of Automation, First consummator
◆ 2021, Best Paper Award Finalist, IEEE International Conference on Mechatronics and Machine Vision in Practice
◆ 2021, Best Conference Paper Finalist, IEEE International Conference on Advanced Robotics and Mechatronics
◆ 2021, Excellent Mentor Award of College, SUSTech
◆ 2020, Best Student Paper Award, IEEE International Conference on Advanced Robotics and Mechatronics
◆ 2020, Excellent Mentor Award of ZHICHENG College, SUSTech
◆ 2019, Best Student Paper Finalist, IEEE International Conference on Advanced Robotics and its Social Impacts
◆ 2019, Guangdong Special Support Program for High-level Talents
◆2018, Neuro prosthesis technology innovation competition (lower limb group), the second place
◆ 2018, Neuro prosthesis technology innovation competition（single technology group）, the second place
◆ 2018，World Robot Contest -Tri-Co Robots Challenge (youth creative group), best collaboration team
◆ 2018，Peacock Plan Award in Shenzhen
◆ 2017，High-Level Professional in Shenzhen
◆ 2016, Excellent Mentor of Tsinghua University Challenge Cup（2014-2016）
◆ 2015, Teaching Contribution Award in Tsinghua University（ME, 2013-2015）
◆ 2014, Excellent Mentor in Tsinghua University
◆ 2009, Excellent Class Advisor in Tsinghua University
◆ 2009, Teaching Excellence Award for Young Teachers in Tsinghua University
◆ 2007, Excellent Paper Award from the Chinese Mechanical Engineering Society
Selected Publications
[1] Kuangen Zhang, Jiahong Chen, Jing Wang, Xinxing Chen, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Ensemble Diverse Hypotheses and Knowledge Distillation for Unsupervised Cross-subject Adaptation. Information Fusion, Volume 93, May 2023, Pages 268-281. (DOI: 10.1016/j.inffus.2022.12.023)
[2] Kuangen Zhang#, Jiahong Chen#, Jing Wang, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Gaussian-guided Feature Alignment for Unsupervised Cross-subject Adaptation. Pattern Recognition, Volume 122, February 2022, 108332.
[3] Lianxin Yang, Caihua Xiong, Ming Hao, Yuquan Leng, Ken Chen, Chenglong Fu*. Energetic Response of Human Walking with Loads Using Suspended Backpacks. IEEE/ASME Transactions on Mechatronics, 27(5): 2973-2984, 2022.
[4] Yuepeng Qian, Shuashuai Han, Yining Wang, Haoyong Yu, Chenglong Fu*. Toward Improving Actuation Transparency and Safety of a Hip Exoskeleton with a Novel Nonlinear Series Elastic Actuator. IEEE/ASME Transactions on Mechatronics, 2022. (DOI: 10.1109/TMECH.2022.3201255)
[5] Jianwen Luo, Ye Zhao, Lecheng Ruan, Shixin Mao, Chenglong Fu*. Estimation of CoM and CoP Trajectories During Human Walking Based on a Wearable Visual Odometry Device. IEEE Transactions on Automation Science and Engineering, 19(1): 396-409, 2022.
[6] Jiyong Tan, Bing Li, Yuanwei Li, Bin Li, Xinxing Chen, Jiayi Wu, Baoming Luo, Yuquan Leng, Yiming Rong, Chenglong Fu*. A Flexible and Fully Autonomous Breast Ultrasound Scanning System. IEEE Transactions on Automation Science and Engineering, 2022. (DOI: 10.1109/TASE.2022.3189339)
[7] Teng Ma, Jiale Zhu, Kuangen Zhang, Wentao Xiao, Haiyuan Liu, Yuquan Leng, Haoyong Yu, Chenglong Fu*. Gait Phase Subdivision and Leg Stiffness Estimation during Stair Climbing. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 860-868, 2022.
[8] Chuheng Chen#, Kuangen Zhang#, Yuquan Leng, Xinxing Chen, Chenglong Fu*. Unsupervised Sim-to-Real Adaptation for Environmental Recognition in Assistive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1350-1360, 2022.
[9] Yuepeng Qian, Haoyong Yu*, Chenglong Fu*. Adaptive Oscillator-based Assistive Torque Control for Gait Asymmetry Correction with a nSEA-driven Hip Exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 2906-2915, 2022.
[10] Yuquan Leng, Xin Lin, Lianxin Yang, Kuangen Zhang, Xinxing Chen, Chenglong Fu*. A Model for Estimating the Leg Mechanical Work Required to Walk with an Elastically-Suspended Backpack. IEEE Transactions on Human-Machine Systems, 52(6): 1303-1312, 2022.
[11] Jiyong Tan, Bing Li, Yuquan Leng, Yuanwei Li, Junhua Peng, Jiayi Wu, Baoming Luo, Xinxing Chen, Yiming Rong, Chenglong Fu*. Fully Automatic Dual-probe Lung Ultrasound Scanning Robot for Screening Triage. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, DOI: 10.1109/TUFFC.2022.3211532, 2022. (Spotlight Article)
[12] Jiyong Tan, Yuanwei Li, Bing Li, Yuquan Leng, Junhua Peng, Jiayi Wu, Baoming Luo, Xinxing Chen, Yiming Rong, Chenglong Fu*. Automatic Generation of Autonomous Ultrasound Scanning Trajectory Based on 3D Point Cloud. IEEE Transactions on Medical Robotics and Bionics, 4(4): 976-990, 2022.
[13] Liang Ma, Yuquan Leng, Wei Jiang, Yuepeng Qian, Chenglong Fu*. Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance. IEEE Robotics and Automation Letters, 7(1): 271-278, 2022.
[14] Yuepeng Qian, Yining Wang, Chuheng Chen, Jingfeng Xiong, Yuquan Leng, Haoyong Yu, Chenglong Fu*. Predictive Locomotion Mode Recognition and Accurate Gait Phase Estimation for Hip Exoskeleton on Various Terrains. IEEE Robotics and Automation Letters, 7(3): 6439-6446, 2022. (RA-L with IROS 2022 option)
[15] Teng Ma#, Yuxuan Wang#, Xinxing Chen, Chuheng Chen, Zhimin Hou, Haoyong Yu*, Chenglong Fu*. A Piecewise Monotonic Smooth Phase Variable for Speed-Adaption Control of Powered Knee-Ankle Prostheses. IEEE Robotics and Automation Letters, 7(3): 8526-8533, 2022. (RA-L with IROS 2022 option)
[16] Xinxing Chen, Chuheng Chen, Yuxuan Wang, Bowen Yang, Teng Ma, Yuquan Leng, Chenglong Fu*. A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes. IEEE Robotics and Automation Letters, 7(4): 9549-9556, 2022. (RA-L with IROS 2022 option)
[17] Yixuan Guo, Zhouxiang Jiang, Bao Song, Xiaoqi Tang, Huasong Min, Chenglong Fu*. A Distance Calibration Method for Kinematic Parameters of Serial Industrial Robots Considering the Accuracy of Relative Position. Measurement, Volume 204, November 2022, 111842.
[18] Yuepeng Qian, Shuashuai Han, Gabriel Aguirre-Ollinger, Chenglong Fu, Haoyong Yu*. Design, Modelling, and Control of a Reconfigurable Rotary Series Elastic Actuator with Nonlinear Stiffness for Assistive Robots. Mechatronics, Volume 86, October 2022, 102872.
[19] Xinxing Chen, Bowen Yan, Jian Huang, Yuquan Leng, Chenglong Fu*. A Reinforcement Learning Fuzzy System for Continuous Control in Robotic Odor Plume Tracking. Robotica, 2022. (DOI: 10.1017/S0263574722001321)
[20] Kuangen Zhang, Jianwen Luo, Wentao Xiao, Wen Zhang, Haiyuan Liu, Jiale Zhu, Zeyu Lu, Yiming Rong, Clarence W. de Silva, Chenglong Fu*. A Subvision System for Enhancing the Environmental Adaptability of the Powered Transfemoral Prosthesis. IEEE Transactions on Cybernetics, 51(6): 3285-3297, 2021.
[21] Xinxing Chen, Kuangen Zhang, Haiyuan Liu, Yuquan Leng, Chenglong Fu*. A Probability Distribution Model-based Approach for Foot Placement Prediction in the Early Swing Phase with a Wearable IMU Sensor. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 2595-2604, 2021.
[22] Lianxin Yang, Yuning Xu, Kuangen Zhang, Ken Chen, Chenglong Fu*. Allowing the Load to Swing Reduces the Mechanical Energy of the Stance Leg and Improves the Lateral Stability of Human Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 429-441, 2021.
[23] Kuangen Zhang#, Haiyuan Liu#, Zixuan Fan, Xinxing Chen, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Foot Placements Prediction for Assistive Walking by Fusing Sequential 3D Gazes and Environmental Context. IEEE Robotics and Automation Letters, 6(2): 2509-2516, 2021. (RA-L with ICRA 2021 option)
[24] Yuquan Leng, Xin Lin, Guan Huang, Jing Wu, Ming Hao, Yanzhen Xiang, Kuangen Zhang, Chenglong Fu*. Wheel-Legged Robotic Limb to Assist Human with Load Carriage: An application for environmental disinfection during COVID-19. IEEE Robotics and Automation Letters, 6(2): 3695-3702, 2021. (RA-L with ICRA 2021 option)
[25] Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu*. Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks. IEEE Robotics and Automation Letters, 6(2): 4125-4132, 2021. (RA-L with ICRA 2021 option)
[26] Chang He, Cai-Hua Xiong*, Ze-Jian Chen, Wei Fan, Xiao-Lin Huang, Chenglong Fu. Preliminary Assessment of a Postural Synergy-Based Exoskeleton for Post-Stroke Upper Limb Rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 1795-1805, 2021.
[27] Lianxin Yang, Jiwen Zhang, Yuning Xu, Ken Chen, Chenglong Fu*. Energy Performance Analysis of a Suspended Backpack with an Optimally Controlled Variable Damper for Human Load Carriage. Mechanism and Machine Theory, Volume 146, April 2020, 103738.
[28] Kuangen Zhang#, Jing Wang#, Clarence W. de Silva, Chenglong Fu*. Unsupervised Cross-subject Adaptation for Predicting Human Locomotion Intent. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(3): 646-657, 2020.
[29] Yihua Chang#, Weixin Wang#, Chenglong Fu*. A Lower Limb Exoskeleton Recycling Energy from Knee Joint and Ankle Joint to Assist Push-off. ASME Journal of Mechanisms and Robotics, 12(4): 051011-051011-10. 2020.
[30] Ming Hao, Jiwen Zhang, Ken Chen, H. Harry Asada, Chenglong Fu*. Supernumerary Robotic Limbs to Assist Human Walking with Load Carriage. ASME Journal of Mechanisms and Robotics, 12(6): 061014-061014-09. 2020.
[31] Yuquan Leng, Xin Lin, Zeyu Lu, Aiguo Song, Zhangguo Yu, Chenglong Fu*. A Model to Predict Ground Reaction Force for Elastically-Suspended Backpacks. Gait & Posture, Volume 82, 118-125, 2020.
[32] Ming Hao, Ken Chen, Chenglong Fu*. Smoother-based 3-D Foot Trajectory Estimation Using Inertial Sensors. IEEE Transactions on Biomedical Engineering, 66(12): 3534-3542, 2019.
[33] Kuangen Zhang, Caihua Xiong, Wen Zhang, Haiyuan Liu, Daoyuan Lai, Yiming Rong, Chenglong Fu*. Environmental Features Recognition for Lower Limb Prostheses Toward Predictive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(3): 465-476, 2019.
[34] Kuangen Zhang, Wen Zhang, Wentao Xiao, Haiyuan Liu, Clarence W. de Silva, Chenglong Fu*. Sequential Decision Fusion for Environmental Classification in Assistive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(9): 1780-1790, 2019.
[35] Jiazhen Liu, Caihua Xiong, Chenglong Fu*. An Ankle Exoskeleton Using Lightweight Motor to Create High Power Assistance for Push-off. ASME Journal of Mechanisms and Robotics, 11(4): 041001-041001-10. 2019.
[36] Ming Hao, Ken Chen, Chenglong Fu*. Effects of Hip Torque during Step-to-step Transition on Center-of-Mass Dynamics during Human Walking Examined with Numerical Simulation. Journal of Biomechanics, 90: 33-39, 2019.
[37] Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu*. Robust Bipedal Locomotion Based on a Hierarchical Control Structure. Robotica, 37(10): 1750-1767, 2019.
[38] Lei Zhang, Chenglong Fu*. Predicting Foot Placement for Balance through a Simple Model with Swing Leg Dynamics. Journal of Biomechanics, 77: 155-162, 2018.
[39] Yuanhao Wu, Ze Wu, Chenglong Fu*. Continuous Arm Gesture Recognition Based on Natural Features and Logistic Regression. IEEE Sensors Journal, 18(19): 8143-8153, 2018.
[40] Wei Gao, Zhenzhong Jia, Chenglong Fu*. Increase the Feasible Step Region of Biped Robots through Active Vertical Flexion and Extension Motions. Robotica, 35(7): 1541-1561, 2017.
[41] Yuanhao Wu, Ken Chen, Chenglong Fu*. Effects of Load Connection Form on Efficiency and Kinetics of Biped Walking. ASME Journal of Mechanisms and Robotics, 8(6): 061015-061015-10, 2016.
[42] Yuanhao Wu, Ken Chen, Chenglong Fu*. Natural Gesture Modeling and Recognition Approach Based on Joint Movements and Arm Orientations. IEEE Sensors Journal, 16(21): 7753-7761, 2016.
[43] Chenglong Fu*, Jianmei Wang, Ken Chen, Zhangguo Yu, Qiang Huang. A Walking Control Strategy Combining Global Sensory Reflex and Leg Synchronization. Robotica, 34(5): 973-994, 2016.
[44] Chenglong Fu*, Feng Tan, Ken Chen. A Simple Walking Strategy for Biped Walking Based on an Intermittent Sinusoidal Oscillator. Robotica, 28(6): 869-884, 2010.
[45] Chenglong Fu*, Ken Chen. Gait Synthesis and Sensory Control of Stair-climbing for a Humanoid Robot. IEEE Transactions on Industrial Electronics, 55(5): 2111-2120, 2008.
[46] Feng Tan, Chenglong Fu*, Ken Chen. Biped Blind Walking on Changing Slope with Reflex Control System. IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA. May 2010. 1709-1714.
[47] Chenglong Fu*. Perturbation Recovery of Biped Walking by Updating the Footstep. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, USA. September 2014. 2509-2514.
[48] Chenglong Fu*, Mei Shuai, Yuanlin Huang, Jianmei Wang, Ken Chen. Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Beijing, China. October 2006. 342-347.
[49] Ping Yang, Haoyun Yan, Bowen Yang, Jianquan Li, Kailin Li, Yuquan Leng, Chenglong Fu*. A Centaur System for Assisting Human Walking with Load Carriage. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan. October 23-27, 2022, pp. 5242-5248.
[50] Ken Chen, Chenglong Fu. Theory and Technology of Humanoid Robots (Academic Monograph of Tsinghua University). June 2010. Tsinghua University Press, Beijing, China. (ISBN 978-7-302-22544-7)
Walking is a basic human activity which deserves scientific understanding. My research focuses on the predictive principles underlying dynamic walking of humans and robots in complex environments. These principles are important not only for robotics, but also for rehabilitation and human movement science. In 2016, I set up the Human-Augmented Robotics Lab (HARL) in SUSTech. Research topics of the HARL include predictive walking principles, powered prosthesis, lower-limb exoskeleton, suspended backpack, and SuperLimbs.
Education
◆ 2002.09~2006.12，Ph.D. ME, Tsinghua University, Beijing, China
◆ 1998.09~2002.07，B.S. ME, Tongji University, Shanghai, China
Work Experience
◆2022.12 ~ present, Southern University of Science and Technology, Head of Department of Mechanical and Energy Engineering, Director of Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems
◆ 2020.04 ~ 2022.12, Southern University of Science and Technology, Tenured Full Professor of the Department of Mechanical and Energy Engineering, Deputy Head of Department (Research), Director of Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems
◆ 2016.11 ~ 2020.04, Southern University of Science and Technology, Tenured Associate Professor of the Department of Mechanical and Energy Engineering
◆ 2010.12 ~ 2017.01, Tsinghua University, Associate Professor of the Department of Mechanical Engineering
◆ 2011.09~2012.09, University of Michigan (Ann Arbor), Visiting Scholar of the Department of Mechanical Engineering
◆ 2007.02~2010.12, Tsinghua University, Assistant Professor of the Department of Precise Instruments and Mechanology
Awards & Honors
◆ 2022, First Prize of Shenzhen Science and Technology Progress Award, First consummator
◆ 2022, Second prize of Science and Technology Progress Award of Chinese Association of Automation, First consummator
◆ 2021, Best Paper Award Finalist, IEEE International Conference on Mechatronics and Machine Vision in Practice
◆ 2021, Best Conference Paper Finalist, IEEE International Conference on Advanced Robotics and Mechatronics
◆ 2021, Excellent Mentor Award of College, SUSTech
◆ 2020, Best Student Paper Award, IEEE International Conference on Advanced Robotics and Mechatronics
◆ 2020, Excellent Mentor Award of ZHICHENG College, SUSTech
◆ 2019, Best Student Paper Finalist, IEEE International Conference on Advanced Robotics and its Social Impacts
◆ 2019, Guangdong Special Support Program for High-level Talents
◆2018, Neuro prosthesis technology innovation competition (lower limb group), the second place
◆ 2018, Neuro prosthesis technology innovation competition（single technology group）, the second place
◆ 2018，World Robot Contest -Tri-Co Robots Challenge (youth creative group), best collaboration team
◆ 2018，Peacock Plan Award in Shenzhen
◆ 2017，High-Level Professional in Shenzhen
◆ 2016, Excellent Mentor of Tsinghua University Challenge Cup（2014-2016）
◆ 2015, Teaching Contribution Award in Tsinghua University（ME, 2013-2015）
◆ 2014, Excellent Mentor in Tsinghua University
◆ 2009, Excellent Class Advisor in Tsinghua University
◆ 2009, Teaching Excellence Award for Young Teachers in Tsinghua University
◆ 2007, Excellent Paper Award from the Chinese Mechanical Engineering Society
Selected Publications
[1] Kuangen Zhang, Jiahong Chen, Jing Wang, Xinxing Chen, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Ensemble Diverse Hypotheses and Knowledge Distillation for Unsupervised Cross-subject Adaptation. Information Fusion, Volume 93, May 2023, Pages 268-281. (DOI: 10.1016/j.inffus.2022.12.023)
[2] Kuangen Zhang#, Jiahong Chen#, Jing Wang, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Gaussian-guided Feature Alignment for Unsupervised Cross-subject Adaptation. Pattern Recognition, Volume 122, February 2022, 108332.
[3] Lianxin Yang, Caihua Xiong, Ming Hao, Yuquan Leng, Ken Chen, Chenglong Fu*. Energetic Response of Human Walking with Loads Using Suspended Backpacks. IEEE/ASME Transactions on Mechatronics, 27(5): 2973-2984, 2022.
[4] Yuepeng Qian, Shuashuai Han, Yining Wang, Haoyong Yu, Chenglong Fu*. Toward Improving Actuation Transparency and Safety of a Hip Exoskeleton with a Novel Nonlinear Series Elastic Actuator. IEEE/ASME Transactions on Mechatronics, 2022. (DOI: 10.1109/TMECH.2022.3201255)
[5] Jianwen Luo, Ye Zhao, Lecheng Ruan, Shixin Mao, Chenglong Fu*. Estimation of CoM and CoP Trajectories During Human Walking Based on a Wearable Visual Odometry Device. IEEE Transactions on Automation Science and Engineering, 19(1): 396-409, 2022.
[6] Jiyong Tan, Bing Li, Yuanwei Li, Bin Li, Xinxing Chen, Jiayi Wu, Baoming Luo, Yuquan Leng, Yiming Rong, Chenglong Fu*. A Flexible and Fully Autonomous Breast Ultrasound Scanning System. IEEE Transactions on Automation Science and Engineering, 2022. (DOI: 10.1109/TASE.2022.3189339)
[7] Teng Ma, Jiale Zhu, Kuangen Zhang, Wentao Xiao, Haiyuan Liu, Yuquan Leng, Haoyong Yu, Chenglong Fu*. Gait Phase Subdivision and Leg Stiffness Estimation during Stair Climbing. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 860-868, 2022.
[8] Chuheng Chen#, Kuangen Zhang#, Yuquan Leng, Xinxing Chen, Chenglong Fu*. Unsupervised Sim-to-Real Adaptation for Environmental Recognition in Assistive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1350-1360, 2022.
[9] Yuepeng Qian, Haoyong Yu*, Chenglong Fu*. Adaptive Oscillator-based Assistive Torque Control for Gait Asymmetry Correction with a nSEA-driven Hip Exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 2906-2915, 2022.
[10] Yuquan Leng, Xin Lin, Lianxin Yang, Kuangen Zhang, Xinxing Chen, Chenglong Fu*. A Model for Estimating the Leg Mechanical Work Required to Walk with an Elastically-Suspended Backpack. IEEE Transactions on Human-Machine Systems, 52(6): 1303-1312, 2022.
[11] Jiyong Tan, Bing Li, Yuquan Leng, Yuanwei Li, Junhua Peng, Jiayi Wu, Baoming Luo, Xinxing Chen, Yiming Rong, Chenglong Fu*. Fully Automatic Dual-probe Lung Ultrasound Scanning Robot for Screening Triage. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, DOI: 10.1109/TUFFC.2022.3211532, 2022. (Spotlight Article)
[12] Jiyong Tan, Yuanwei Li, Bing Li, Yuquan Leng, Junhua Peng, Jiayi Wu, Baoming Luo, Xinxing Chen, Yiming Rong, Chenglong Fu*. Automatic Generation of Autonomous Ultrasound Scanning Trajectory Based on 3D Point Cloud. IEEE Transactions on Medical Robotics and Bionics, 4(4): 976-990, 2022.
[13] Liang Ma, Yuquan Leng, Wei Jiang, Yuepeng Qian, Chenglong Fu*. Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance. IEEE Robotics and Automation Letters, 7(1): 271-278, 2022.
[14] Yuepeng Qian, Yining Wang, Chuheng Chen, Jingfeng Xiong, Yuquan Leng, Haoyong Yu, Chenglong Fu*. Predictive Locomotion Mode Recognition and Accurate Gait Phase Estimation for Hip Exoskeleton on Various Terrains. IEEE Robotics and Automation Letters, 7(3): 6439-6446, 2022. (RA-L with IROS 2022 option)
[15] Teng Ma#, Yuxuan Wang#, Xinxing Chen, Chuheng Chen, Zhimin Hou, Haoyong Yu*, Chenglong Fu*. A Piecewise Monotonic Smooth Phase Variable for Speed-Adaption Control of Powered Knee-Ankle Prostheses. IEEE Robotics and Automation Letters, 7(3): 8526-8533, 2022. (RA-L with IROS 2022 option)
[16] Xinxing Chen, Chuheng Chen, Yuxuan Wang, Bowen Yang, Teng Ma, Yuquan Leng, Chenglong Fu*. A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes. IEEE Robotics and Automation Letters, 7(4): 9549-9556, 2022. (RA-L with IROS 2022 option)
[17] Yixuan Guo, Zhouxiang Jiang, Bao Song, Xiaoqi Tang, Huasong Min, Chenglong Fu*. A Distance Calibration Method for Kinematic Parameters of Serial Industrial Robots Considering the Accuracy of Relative Position. Measurement, Volume 204, November 2022, 111842.
[18] Yuepeng Qian, Shuashuai Han, Gabriel Aguirre-Ollinger, Chenglong Fu, Haoyong Yu*. Design, Modelling, and Control of a Reconfigurable Rotary Series Elastic Actuator with Nonlinear Stiffness for Assistive Robots. Mechatronics, Volume 86, October 2022, 102872.
[19] Xinxing Chen, Bowen Yan, Jian Huang, Yuquan Leng, Chenglong Fu*. A Reinforcement Learning Fuzzy System for Continuous Control in Robotic Odor Plume Tracking. Robotica, 2022. (DOI: 10.1017/S0263574722001321)
[20] Kuangen Zhang, Jianwen Luo, Wentao Xiao, Wen Zhang, Haiyuan Liu, Jiale Zhu, Zeyu Lu, Yiming Rong, Clarence W. de Silva, Chenglong Fu*. A Subvision System for Enhancing the Environmental Adaptability of the Powered Transfemoral Prosthesis. IEEE Transactions on Cybernetics, 51(6): 3285-3297, 2021.
[21] Xinxing Chen, Kuangen Zhang, Haiyuan Liu, Yuquan Leng, Chenglong Fu*. A Probability Distribution Model-based Approach for Foot Placement Prediction in the Early Swing Phase with a Wearable IMU Sensor. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 2595-2604, 2021.
[22] Lianxin Yang, Yuning Xu, Kuangen Zhang, Ken Chen, Chenglong Fu*. Allowing the Load to Swing Reduces the Mechanical Energy of the Stance Leg and Improves the Lateral Stability of Human Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 429-441, 2021.
[23] Kuangen Zhang#, Haiyuan Liu#, Zixuan Fan, Xinxing Chen, Yuquan Leng, Clarence W. de Silva, Chenglong Fu*. Foot Placements Prediction for Assistive Walking by Fusing Sequential 3D Gazes and Environmental Context. IEEE Robotics and Automation Letters, 6(2): 2509-2516, 2021. (RA-L with ICRA 2021 option)
[24] Yuquan Leng, Xin Lin, Guan Huang, Jing Wu, Ming Hao, Yanzhen Xiang, Kuangen Zhang, Chenglong Fu*. Wheel-Legged Robotic Limb to Assist Human with Load Carriage: An application for environmental disinfection during COVID-19. IEEE Robotics and Automation Letters, 6(2): 3695-3702, 2021. (RA-L with ICRA 2021 option)
[25] Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu*. Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks. IEEE Robotics and Automation Letters, 6(2): 4125-4132, 2021. (RA-L with ICRA 2021 option)
[26] Chang He, Cai-Hua Xiong*, Ze-Jian Chen, Wei Fan, Xiao-Lin Huang, Chenglong Fu. Preliminary Assessment of a Postural Synergy-Based Exoskeleton for Post-Stroke Upper Limb Rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 1795-1805, 2021.
[27] Lianxin Yang, Jiwen Zhang, Yuning Xu, Ken Chen, Chenglong Fu*. Energy Performance Analysis of a Suspended Backpack with an Optimally Controlled Variable Damper for Human Load Carriage. Mechanism and Machine Theory, Volume 146, April 2020, 103738.
[28] Kuangen Zhang#, Jing Wang#, Clarence W. de Silva, Chenglong Fu*. Unsupervised Cross-subject Adaptation for Predicting Human Locomotion Intent. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(3): 646-657, 2020.
[29] Yihua Chang#, Weixin Wang#, Chenglong Fu*. A Lower Limb Exoskeleton Recycling Energy from Knee Joint and Ankle Joint to Assist Push-off. ASME Journal of Mechanisms and Robotics, 12(4): 051011-051011-10. 2020.
[30] Ming Hao, Jiwen Zhang, Ken Chen, H. Harry Asada, Chenglong Fu*. Supernumerary Robotic Limbs to Assist Human Walking with Load Carriage. ASME Journal of Mechanisms and Robotics, 12(6): 061014-061014-09. 2020.
[31] Yuquan Leng, Xin Lin, Zeyu Lu, Aiguo Song, Zhangguo Yu, Chenglong Fu*. A Model to Predict Ground Reaction Force for Elastically-Suspended Backpacks. Gait & Posture, Volume 82, 118-125, 2020.
[32] Ming Hao, Ken Chen, Chenglong Fu*. Smoother-based 3-D Foot Trajectory Estimation Using Inertial Sensors. IEEE Transactions on Biomedical Engineering, 66(12): 3534-3542, 2019.
[33] Kuangen Zhang, Caihua Xiong, Wen Zhang, Haiyuan Liu, Daoyuan Lai, Yiming Rong, Chenglong Fu*. Environmental Features Recognition for Lower Limb Prostheses Toward Predictive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(3): 465-476, 2019.
[34] Kuangen Zhang, Wen Zhang, Wentao Xiao, Haiyuan Liu, Clarence W. de Silva, Chenglong Fu*. Sequential Decision Fusion for Environmental Classification in Assistive Walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(9): 1780-1790, 2019.
[35] Jiazhen Liu, Caihua Xiong, Chenglong Fu*. An Ankle Exoskeleton Using Lightweight Motor to Create High Power Assistance for Push-off. ASME Journal of Mechanisms and Robotics, 11(4): 041001-041001-10. 2019.
[36] Ming Hao, Ken Chen, Chenglong Fu*. Effects of Hip Torque during Step-to-step Transition on Center-of-Mass Dynamics during Human Walking Examined with Numerical Simulation. Journal of Biomechanics, 90: 33-39, 2019.
[37] Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu*. Robust Bipedal Locomotion Based on a Hierarchical Control Structure. Robotica, 37(10): 1750-1767, 2019.
[38] Lei Zhang, Chenglong Fu*. Predicting Foot Placement for Balance through a Simple Model with Swing Leg Dynamics. Journal of Biomechanics, 77: 155-162, 2018.
[39] Yuanhao Wu, Ze Wu, Chenglong Fu*. Continuous Arm Gesture Recognition Based on Natural Features and Logistic Regression. IEEE Sensors Journal, 18(19): 8143-8153, 2018.
[40] Wei Gao, Zhenzhong Jia, Chenglong Fu*. Increase the Feasible Step Region of Biped Robots through Active Vertical Flexion and Extension Motions. Robotica, 35(7): 1541-1561, 2017.
[41] Yuanhao Wu, Ken Chen, Chenglong Fu*. Effects of Load Connection Form on Efficiency and Kinetics of Biped Walking. ASME Journal of Mechanisms and Robotics, 8(6): 061015-061015-10, 2016.
[42] Yuanhao Wu, Ken Chen, Chenglong Fu*. Natural Gesture Modeling and Recognition Approach Based on Joint Movements and Arm Orientations. IEEE Sensors Journal, 16(21): 7753-7761, 2016.
[43] Chenglong Fu*, Jianmei Wang, Ken Chen, Zhangguo Yu, Qiang Huang. A Walking Control Strategy Combining Global Sensory Reflex and Leg Synchronization. Robotica, 34(5): 973-994, 2016.
[44] Chenglong Fu*, Feng Tan, Ken Chen. A Simple Walking Strategy for Biped Walking Based on an Intermittent Sinusoidal Oscillator. Robotica, 28(6): 869-884, 2010.
[45] Chenglong Fu*, Ken Chen. Gait Synthesis and Sensory Control of Stair-climbing for a Humanoid Robot. IEEE Transactions on Industrial Electronics, 55(5): 2111-2120, 2008.
[46] Feng Tan, Chenglong Fu*, Ken Chen. Biped Blind Walking on Changing Slope with Reflex Control System. IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA. May 2010. 1709-1714.
[47] Chenglong Fu*. Perturbation Recovery of Biped Walking by Updating the Footstep. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, USA. September 2014. 2509-2514.
[48] Chenglong Fu*, Mei Shuai, Yuanlin Huang, Jianmei Wang, Ken Chen. Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Beijing, China. October 2006. 342-347.
[49] Ping Yang, Haoyun Yan, Bowen Yang, Jianquan Li, Kailin Li, Yuquan Leng, Chenglong Fu*. A Centaur System for Assisting Human Walking with Load Carriage. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan. October 23-27, 2022, pp. 5242-5248.
[50] Ken Chen, Chenglong Fu. Theory and Technology of Humanoid Robots (Academic Monograph of Tsinghua University). June 2010. Tsinghua University Press, Beijing, China. (ISBN 978-7-302-22544-7)