Hao Su
surgical robotics, exoskeleton, wearable robot
Works (34)
Updated: April 22nd, 2024 04:43
2024 journal article
Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance
MECHATRONICS, 97.
author keywords: Pediatric exoskeleton; Actuator optimization; Cerebral palsy; Deep learning
doi.org (publisher)
UN Sustainable Development Goal Categories
9. Industry, Innovation and Infrastructure
(OpenAlex)
Sources: Web Of Science, ORCID
Added: January 29, 2024
2024 journal article
An audio-based risky flight detection framework for quadrotors
IET CYBER-SYSTEMS AND ROBOTICS, 6(1).
author keywords: aerial robotics; deep learning; flying robots; propeller diagnosis
TL;DR:
A new and comprehensive fault diagnosis framework is presented that uses only the audio caused by propeller rotation without accessing any flight data to quickly detect physical damage to propellers, recognise risky flights, and provide early warnings to surrounding human workers.
(via Semantic Scholar)
Sources: Web Of Science, ORCID
Added: January 29, 2024
2024 article
Assistive Technology's Potential to Improve Employment of People with Disabilities
Kruse, D., Schur, L., Johnson-Marcus, H.-A., Gilbert, L., Di Lallo, A., Gao, W., & Su, H. (2024, January 22). JOURNAL OF OCCUPATIONAL REHABILITATION, Vol. 1.
author keywords: Disability; Employment; Assistive technology; Accommodations
TL;DR:
Assisted technology accommodations have potential for improving employment outcomes for people with disabilities, and the three developing assistive technologies described illustrate the potential to reduce the estimated employment and earnings deficits.
(via Semantic Scholar)
Sources: Web Of Science, ORCID
Added: February 12, 2024
2024 article
Spatial Iterative Learning Torque Control of Robotic Exoskeletons for High Accuracy and Rapid Convergence Assistance
Xing, X., Zhang, S., Huang, T., Huang, J. S., Su, H., & Li, Y. (2024, March 14). IEEE-ASME TRANSACTIONS ON MECHATRONICS, Vol. 3.
author keywords: Exoskeleton; human-robot interaction; robustness; spatial iterative learning control
Sources: Web Of Science, NC State University Libraries
Added: April 15, 2024
2023 article
Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction
Yu, S., Yang, J., Huang, T.-H., Zhu, J., Visco, C. J., Hameed, F., … Su, H. (2023, January 21). ANNALS OF BIOMEDICAL ENGINEERING, Vol. 1.
author keywords: Activities classification; Gait phase detection; Artificial neural networks; Exoskeleton
MeSH headings : Humans; Gait; Walking; Lower Extremity; Neural Networks, Computer; Algorithms; Movement Disorders; Biomechanical Phenomena
TL;DR:
A high-accuracy gait phase estimation and prediction algorithm built on a two-stage artificial neural network that can detect the gait phase in unrhythmic conditions during walking, stair ascending, and stair descending, and classify these activities with standing.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: March 6, 2023
2023 journal article
Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 15(5).
author keywords: soft robots; concentric tube robot; kinematics modeling; stiffness modulation
Sources: Web Of Science, ORCID
Added: January 2, 2024
2023 journal article
Modeling and control of a bedside cable-driven lower-limb rehabilitation robot for bedridden individuals
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY, 11.
author keywords: cable-driven; lower-limb rehabilitation; human-machine coupling; impedance identification; sling exercise therapy
TL;DR:
A bedside cable-driven lower-limb rehabilitation robot based on the sling exercise therapy theory can actively drive the hip and knee motions at the bedside using flexible cables linking the knee and ankle joints and effectively stabilize the motion of the human–cable coupling system.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Sources: Web Of Science, ORCID
Added: December 18, 2023
2023 journal article
Physically intelligent autonomous soft robotic maze escaper
SCIENCE ADVANCES, 9(36).
Sources: Web Of Science, ORCID
Added: January 29, 2024
2023 journal article
Robust walking control of a lower limb rehabilitation exoskeleton coupled with a musculoskeletal model via deep reinforcement learning
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 20(1).
author keywords: Robust walking control; Human-exoskeleton interactions; Muscular disorders; Deep reinforcement learning
MeSH headings : Humans; Exoskeleton Device; Walking / physiology; Lower Extremity / physiology; Gait / physiology; Biomechanical Phenomena / physiology
TL;DR:
A novel, deep neural network, reinforcement learning-based robust controller for a LLRE based on a decoupled offline human-exoskeleton simulation training with three independent networks is presented, which is shown to be able to handle different patient conditions without the need for patient-specific control parameter tuning.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: April 11, 2023
2023 journal article
The effect of hip exoskeleton weight on kinematics, kinetics, and electromyography during human walking
JOURNAL OF BIOMECHANICS, 152.
author keywords: Gait; Exoskeleton; Weight; Loading
MeSH headings : Humans; Electromyography; Exoskeleton Device; Biomechanical Phenomena; Walking / physiology; Gait / physiology
TL;DR:
This study represents a novel, systematic approach to characterizing transparency in exoskeleton design by predicting that the weight distribution around the pelvis and the amount of weight applied would change gait characteristics.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: May 9, 2023
2022 journal article
A hybrid disturbance observer for delivery drone?s oscillation suppression
MECHATRONICS, 88.
author keywords: DOB design; Learning filter; Neural network; Delivery drones
TL;DR:
The proposed hybrid DOB is designed to advance the standard DOB structure with a learning-based feedforward compensation and is well suited to systems whose baseline controllers are difficult or impossible to be changed.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
11. Sustainable Cities and Communities
(Web of Science)
Sources: Web Of Science, ORCID
Added: January 3, 2023
2022 article
AI reflections in 2021
Buckner, C., Miikkulainen, R., Forrest, S., Milano, S., Zou, J., Prunk, C., … Marda, V. (2022, January 25). NATURE MACHINE INTELLIGENCE, Vol. 1.
TL;DR:
Authors of several recent Comments and Perspectives in Nature Machine Intelligence about what happened after their article was published: how did the topic they wrote about develop, did they gain new insights, and what are their hopes and expectations for AI in 2022?
(via Semantic Scholar)
Sources: Web Of Science, ORCID
Added: February 7, 2022
2022 journal article
Age-Dependent Upper Limb Myoelectric Control Capability in Typically Developing Children
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 30, 1009–1018.
author keywords: Electromyography; Task analysis; Pediatrics; Electrodes; Protocols; Particle measurements; Neuromuscular; Myoelectric control; pattern recognition; motor development; upper limb; children
MeSH headings : Adult; Amputees; Artificial Limbs; Child; Electromyography / methods; Humans; Muscle Contraction; Upper Extremity
TL;DR:
It is found that children had higher failure rates and slower average target acquisitions than adults did, primarily due to longer correction times that did not improve over repetitive practice, and the performance in both experiments was age-dependent in children.
(via Semantic Scholar)
Sources: Web Of Science, ORCID
Added: May 10, 2022
2022 journal article
Bio-inspired design of a self-aligning, lightweight, and highly-compliant cable-driven knee exoskeleton
FRONTIERS IN HUMAN NEUROSCIENCE, 16.
author keywords: bioinspired design; cable-driven; self-alignment; knee exoskeleton; complaint actuators
TL;DR:
This paper proposes a bio-inspired knee exoskeleton with a joint design that mimics the human knee joint to accomplish a lightweight and high compliance design and demonstrates performance improvement compared with state-of-the-art exoskeletons.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
11. Sustainable Cities and Communities
(OpenAlex)
Sources: Web Of Science, ORCID
Added: December 5, 2022
2022 article
Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance for Agile Activities
Zhu, J., Jiao, C., Dominguez, I., Yu, S., & Su, H. (2022, June 3). IEEE-ASME TRANSACTIONS ON MECHATRONICS, Vol. 6.
author keywords: Torque; Brushless DC motors; Actuators; Gears; Prosthetics; Robots; Rotors; Backdrive torque modeling; high compliance; high torque actuator; powered prosthesis; wearable robots
TL;DR:
An analytical backdrive torque model is proposed that accurately estimates the back drive torque from both motor and transmission to inform the robot design and methods for gear transmission design to improve compliance by reducing inertia of the knee prosthesis are proposed.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: June 27, 2022
2022 journal article
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, 16.
author keywords: gait phase; gait coordination; lower limb prosthesis; sensor fusion; sEMG; temporal convolution network; detrended cross-correlation analysis (DCCA); hip disarticulation
TL;DR:
The proposed architecture improves the walking coordination with prostheses for the amputees at hip level amputation and exhibits a relatively high intra-subject consistency in the gait phase inference.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
11. Sustainable Cities and Communities
(OpenAlex)
Sources: Web Of Science, ORCID
Added: June 6, 2022
2022 article
Editorial: Next Generation User-Adaptive Wearable Robots
Bulea, T. C., Sharma, N., Sikdar, S., & Su, H. (2022, June 22). FRONTIERS IN ROBOTICS AND AI, Vol. 9.
Contributors: T. Bulea *, N. Sharma n , S. Sikdar * & n
author keywords: exoskeleton; wearable robot; rehabilitation; human-in-the loop; functional electric stimulation
TL;DR:
One study presents a pediatric exoskeleton that provides adaptive assistance to knee extension to alleviate crouch and its evaluation in a child with cerebral palsy and two manuscripts present novel controllers which leverage reinforcement learning and their evaluation in simulation.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: July 18, 2022
2022 journal article
Evaluation of Muscle Synergy During Exoskeleton-Assisted Walking in Persons With Multiple Sclerosis
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 69(10), 3265–3274.
author keywords: Muscles; Legged locomotion; Exoskeletons; Multiple sclerosis; Training; Turning; Knee; Exoskeletons; multiple sclerosis; gait; muscle synergy
MeSH headings : Electromyography; Exoskeleton Device; Gait / physiology; Humans; Multiple Sclerosis; Muscle, Skeletal / physiology; Walking / physiology
TL;DR:
Exoskeleton-assistance does not alter the existing synergy modules, but could induce a new module to emerge, and alters the control of these modules, i.e., modifies the neural commands indicated by the reduced amplitude of the activation profiles.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Sources: Web Of Science, ORCID
Added: October 3, 2022
2022 article
How can wearable robotic and sensor technology advance neurorehabilitation?
Chang, S.-H., Tseng, S.-C., Su, H., & Francisco, G. E. (2022, October 11). FRONTIERS IN NEUROROBOTICS, Vol. 16.
author keywords: wearable robotics; wearable sensors; rehabilitation; neurorehabilitation; rehabilitation technology
TL;DR:
This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY).
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: November 14, 2022
2022 journal article
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance
IEEE TRANSACTIONS ON ROBOTICS, 38(3), 1442–1459.
author keywords: Knee; Exoskeletons; Torque; Legged locomotion; Actuators; Biomechanics; Muscles; Force; torque control; knee exoskeleton; quasi-direct-drive actuation; stiffness control
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: June 20, 2022
2022 article
Self-Sustained Snapping Drives Autonomous Dancing and Motion in Free-Standing Wavy Rings
Zhao, Y., Hong, Y., Qi, F., Chi, Y., Su, H., & Yin, J. (2022, December 27). ADVANCED MATERIALS, Vol. 12.
author keywords: autonomous; bistable rings; liquid-crystal elastomers; snapping instabilities; soft robots
UN Sustainable Development Goal Categories
11. Sustainable Cities and Communities
(Web of Science)
Sources: Web Of Science, ORCID
Added: January 9, 2023
2022 article
State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions
Su, H., Kwok, K.-W., Cleary, K., Iordachita, I., Cavusoglu, M. C., Desai, J. P., & Fischer, G. S. (2022, May 3). PROCEEDINGS OF THE IEEE, Vol. 5.
author keywords: Magnetic resonance imaging; Robots; Imaging; Robot sensing systems; Robot kinematics; Biomedical imaging; Sensors; Fiber optic sensors; image-guided surgery; magnetic resonance imaging (MRI)-compatible robots; piezoelectric actuators; sensors and actuators; surgical robots
TL;DR:
The challenges and history of robotic systems intended to operate in an MRI environment are detailed and promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology for making this possible are outlined.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: May 23, 2022
2021 journal article
A Center of Mass Estimation and Control Strategy for Body-Weight-Support Treadmill Training
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 29, 2388–2398.
author keywords: Training; Legged locomotion; Estimation; Stroke (medical condition); Kinematics; Hip; Quaternions; Body weight support; center of mass height; locomotion recognition; long-short term memory; post-stroke
MeSH headings : Exercise Test; Exercise Therapy; Gait; Humans; Stroke Rehabilitation; Walking
TL;DR:
The coM height kinematics by adjustment strategy is in good agreement with the mean values of the 14 non-disabled subjects, which demonstrated that the adjustment strategy improves the stability of CoM height during the training.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: November 29, 2021
2021 article
Wearable Knee Assistive Devices for Kneeling Tasks in Construction
Chen, S., Stevenson, D. T., Yu, S., Mioskowska, M., Yi, J., Su, H., & Trkov, M. (2021, August). IEEE-ASME TRANSACTIONS ON MECHATRONICS, Vol. 26, pp. 1989–1996.
author keywords: Construction workers; industrial exoskeletons; kneeling; wearable sensors and robots
TL;DR:
The proposed system provides an enabling intervention to potentially reduce musculoskeletal injury risks of construction workers by controlling the assistive knee joint torque provided by lightweight exoskeletons with powerful quasi-direct drive actuation.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID
Added: August 30, 2021
2020 journal article
Leveraging elastic instabilities for amplified performance: Spine-inspired high-speed and high-force soft robots
SCIENCE ADVANCES, 6(19).
Contributors: Y. Tang n, Y. Chi n, J. Sun *, T. Huang *, O. Maghsoudi*, A. Spence *, J. Zhao *, * , J. Yin n
TL;DR:
This study establishes a new generic design paradigm of next-generation high-performance soft robots that are applicable for multifunctionality, different actuation methods, and materials at multiscales.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
11. Sustainable Cities and Communities
(Web of Science)
Sources: ORCID, Web Of Science
Added: May 26, 2020
2018 journal article
Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton
IEEE Robotics and Automation Letters (RA-L).
Source: ORCID
Added: July 13, 2022
2017 journal article
Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation
IEEE Sensors Journal.
Source: ORCID
Added: July 13, 2022
2017 journal article
MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device
Annals of Biomedical Engineering.
Source: ORCID
Added: July 13, 2022
2016 journal article
A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting
Annals of Biomedical Engineering.
Source: ORCID
Added: July 13, 2022
2015 journal article
Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy
IEEE/ASME Transactions on Mechatronics.
Contributors: * , W. Shang *, G. Cole*, G. Li *, K. Harrington*, A. Camilo*, J. Tokuda *, C. Tempany *, N. Hata *, G. Fischer *
TL;DR:
This paper presents a fully actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance and develops a 6-degree-of-freedom needle placement robot for transperineal prostate interventions.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
16. Peace, Justice and Strong Institutions
(OpenAlex)
Source: ORCID
Added: February 1, 2024
2015 journal article
Robotic System for MRI-Guided Stereotactic Neurosurgery
IEEE/ASME Transactions on Mechatronics.
Source: ORCID
Added: July 13, 2022
2012 conference paper
A MRI-Guided Concentric Tube Continuum Robot with Piezoelectric Actuation: A Feasibility Study
IEEE International Conference on Robotics and Automation.
Contributors: * , D. Cardona*, W. Shang *, A. Camilo*, G. Cole*, D. Rucker *, R. Webster *, G. Fischer *
TL;DR:
This paper presents a versatile magnetic resonance imaging (MRI) compatible concentric tube continuum robotic system that enables MR image-guided placement of a curved, steerable active cannula, and is fully MRI-compatible allowing simultaneous robotic motion and imaging with no image quality degradation.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
16. Peace, Justice and Strong Institutions
(OpenAlex)
Source: ORCID
Added: February 1, 2024
2011 conference paper
An Affordable Compact Humanoid Robot for Autism Spectrum Disorder Interventions in Children
Annual International Conference of the IEEE Engineering in Medicine and Biology.
Contributors: L. Dickstein-Fischer*, E. Alexander*, X. Yan *, * , K. Harrington* & G. Fischer *
TL;DR:
The piloting the use of robotics as an improved diagnostic and early intervention tool for autistic children that is affordable, non-threatening, durable, and capable of interacting with an autistic child is proposed.
(via Semantic Scholar)
Source: ORCID
Added: February 1, 2024
2011 conference paper
Real-time MRI-Guided Needle Placement Robot with Integrated Fiber Optic Force Sensing
IEEE International Conference on Robotics and Automation.
Contributors: * , M. Zervas*, G. Cole*, C. Furlong* & G. Fischer *
TL;DR:
The first prototype of a magnetic resonance imaging (MRI) compatible piezoelectric actuated robot integrated with a high-resolution fiber optic sensor for prostate brachytherapy with real-time in situ needle steering capability in 3T MRI is presented.
(via Semantic Scholar)
Source: ORCID
Added: February 1, 2024
Employment
Updated: July 18th, 2021 22:29
2021 - present
North Carolina State University Raleigh, North Carolina, US
associate professor
mechanical and aerospace engineering
2017 - 2021
City College of New York New York, NY, US
assistant professor
mechanical engineering
2015 - 2017
Harvard University Cambridge, MA, US
Research scientist
Wyss institute for biologically inspired engineering
2013 - 2015
Philips Research North America Briarcliff Manor, NY, US
Education
Updated: July 31st, 2017 00:40
Worcester Polytechnic Institute Worcester, MA, US
PhD
University at Buffalo - The State University of New York Buffalo, NY, US
Master
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