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Passivity-Based Control for Robust Bipedal Locomotion

Passivity-based control with generalized energy storage functions for robust bipedal locomotion.

Length-Adjustable Prosthesis based on Dynamic Leg Length

Design and biomechanical evaluation of length-actuated transfemoral prostheses.

Human-Centered Intelligent Inhabitable Spaces

Human-centered robot rooms and reconfigurable living spaces that sense, reason, and physically adapt to their occupants.

Safety Augmentation for Voluntary Human Motion

Control barrier function-based stability augmentation for voluntary motion under leaning and slip perturbations.

Continuum Components Based Robotic Systems

Continuum and hybrid rigid–compliant robotic systems for physical assistance, fall mitigation, and manipulation.

Task-Agnostic Control Paradigms for Assisting Voluntary Human Motion

Energy and centroidal momentum shaping for reference kinematics-free assistance with lower-limb exoskeletons.

Task-Agnostic Customization Framework for Lower-Limb Exoskeletons

Human-in-the-loop optimization and task-agnostic control customization for lower-limb exoskeletons.

Disturbance Rejection and Vibration Control

Disturbance rejection and learning-based control for vibration suppression in two-inertia systems.

Talk 1 on Relevant Topic in Your Field

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Tutorial 1 on Relevant Topic in Your Field

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Conference Proceeding talk 3 on Relevant Topic in Your Field

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Teaching

Undergraduate course, , 1900

ME 3050: Modeling & Analysis of Dynamic Systems

Spring 2020 - present