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.

By: S. Zhang n, J. Zhu n, T. Huang n, S. Yu n, J. Sen Huang, I. Lopez-Sanchez n, T. Devine*, M. Abdelhady* ...

author keywords: Pediatric exoskeleton; Actuator optimization; Cerebral palsy; Deep learning
UN Sustainable Development Goal Categories
9. Industry, Innovation and Infrastructure (OpenAlex)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: January 29, 2024

2024 journal article

An audio-based risky flight detection framework for quadrotors

IET CYBER-SYSTEMS AND ROBOTICS, 6(1).

By: W. Liu*, C. Liu*, S. Sajedi*, H. Su n, X. Liang* & M. Zheng*

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, NC State University Libraries
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, NC State University Libraries
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.

By: S. Yu n, J. Yang n, T. Huang n, J. Zhu n, C. Visco*, F. Hameed*, J. Stein*, X. Zhou*, H. Su n

Contributors: S. Yu n, J. Yang n, T. Huang n, J. Zhu n, C. Visco*, F. Hameed*, J. Stein*, X. Zhou*, H. Su n

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
Sources: Web Of Science, NC State University Libraries, 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, NC State University Libraries
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.

By: D. Wang*, J. Li*, Z. Jian*, H. Su n, H. Wang* & F. Fang*

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, NC State University Libraries
Added: December 18, 2023

2023 journal article

Physically intelligent autonomous soft robotic maze escaper

SCIENCE ADVANCES, 9(36).

By: Y. Zhao n, Y. Hong n, Y. Li n, F. Qi n, H. Qing n, H. Su n, J. Yin n

Sources: Web Of Science, NC State University Libraries
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).

By: S. Luo*, G. Androwis*, S. Adamovich*, E. Nunez*, H. Su n & X. Zhou*

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)
Sources: Web Of Science, NC State University Libraries
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.

By: M. Normand*, J. Lee*, H. Su n & J. Sulzer*

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
Sources: Web Of Science, NC State University Libraries
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
Sources: Web Of Science, NC State University Libraries
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.

By: C. Buckner*, R. Miikkulainen*, S. Forrest*, S. Milano*, J. Zou*, C. Prunk*, C. Irrgang*, I. Cohen* ...

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, NC State University Libraries
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.

By: M. Gonzalez*, H. Su n & Q. Fu*

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, NC State University Libraries
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.

By: S. Yu n, T. Huang n, A. Di Lallo n, S. Zhang n, T. Wang n, Q. Fu*, H. Su n

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
11. Sustainable Cities and Communities (OpenAlex)
Sources: Web Of Science, NC State University Libraries
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.

By: J. Zhu n, C. Jiao n, I. Dominguez n, S. Yu n & H. Su n

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
Sources: Web Of Science, NC State University Libraries, 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
11. Sustainable Cities and Communities (OpenAlex)
Sources: Web Of Science, NC State University Libraries
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.

By: T. Bulea*, N. Sharma n, S. Sikdar* & H. Su n

Contributors: T. Bulea*, N. Sharma n, S. Sikdar* & H. Su 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)
Sources: Web Of Science, NC State University Libraries, 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.

By: T. Afzal*, F. Zhu*, S. Tseng*, J. Lincoln, G. Francisco*, H. Su n, S. Chang*

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, NC State University Libraries
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.

By: S. Chang*, S. Tseng*, H. Su n & G. Francisco*

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)
Sources: Web Of Science, NC State University Libraries
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.

By: T. Huang n, S. Zhang n, S. Yu n, M. MacLean, J. Zhu n, A. Di Lallo n, C. Jiao n, T. Bulea*, M. Zheng*, H. Su n

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
Sources: Web Of Science, NC State University Libraries, 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.

By: Y. Zhao n, Y. Hong n, F. Qi n, Y. Chi n, H. Su n & J. Yin n

author keywords: autonomous; bistable rings; liquid-crystal elastomers; snapping instabilities; soft robots
UN Sustainable Development Goal Categories
Sources: Web Of Science, NC State University Libraries
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)
Sources: Web Of Science, NC State University Libraries
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.

By: X. Li*, B. He*, Z. Deng*, Y. Chen*, D. Wang*, Y. Fan*, H. Su n, H. Yu*

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)
Sources: Web Of Science, NC State University Libraries
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.

By: S. Chen*, D. Stevenson*, S. Yu n, M. Mioskowska*, J. Yi*, H. Su n, M. Trkov*

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)
Sources: Web Of Science, NC State University Libraries
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).

By: Y. Tang n, Y. Chi n, J. Sun*, T. Huang*, O. Maghsoudi*, A. Spence*, J. Zhao*, H. Su*, J. Yin n

Contributors: Y. Tang n, Y. Chi n, J. Sun*, T. Huang*, O. Maghsoudi*, A. Spence*, J. Zhao*, H. Su*, 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)
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).

Hao Su

Source: ORCID
Added: July 13, 2022

2017 journal article

Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation

IEEE Sensors Journal.

By: H. Su, I. Iordorchita, J. Tokuda, N. Hata, X. Liu & G. Fischer

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.

By: H. Su, W. Shang, G. Li & G. Fischer

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.

By: H. Su, G. Li, D. Rucker, R. Webster & G. Fischer

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: H. Su*, 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.

By: H. Su, W. Shang, G. Cole, G. Li, K. Harrington, A. Camilo, J. Tokuda, C. Tempany, N. Hata, G. Fischer

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: H. Su*, 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*, H. Su*, 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: H. Su*, 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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