Research
Funds
- 人体姿态感知信息度量自适应估计理论及应用，国家自然科学基金青年科学基金，2025-01至2027-12，30万元，主持
- 某软件测试项目，北京空间飞行器总体设计部，2024-06至2025-06，60万元，主持
- 面向空间机械臂的智能持续生长技术开发，北京控制工程研究所，2025-08至2026-08，8万元，主持
- 面向可穿戴无创生理监测的主动采样感知与状态估计研究，北京市自然科学基金-北京杰青项目，2024-07至2027-06，100万元，参与
- 面向手机直连应用的高低轨卫星协同处理平台开发技术，中国空间技术研究院，2024-09至2025-09，75万元，参与
- A Synergetic Human-Machine Exoskeleton System for Walking Assistance of Stroke Patients in ADLs, Innovation and Technology Commission, Hong Kong, 2019-09至2021-08, HK$4516800, main participants.
Research Interests
- Statistical Learning, Multi-sensor Information Fusion
- Exoskeleton Robot, Humanoid Robot
- Human-Machine Symbiosis
Research Experience
1. Robust State Estimation
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The well-known mean squared error (MSE) based algorithms are sensitive to outliers or non-Gaussian noise.
To handle this issue, we propose a novel metric which is called multi-kernel correntropy and derive some robust estimators. Relevant works:
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2. Orientation Estimation of IMUs
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Inertial measurement units are widely used in the field of gait assessment, human-robot interaction, motion animation,
and virtual and augmented reality. However, their performances are greatly affected by external acceleration and magnetic disturbance. To cope with this issue, we employ
the multi-kernel correntropy to replace the mean squared error (MSE) based cost function, and derive some robust orientation estimation estimators for IMUs. Relevant works:
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3. Preference-based control for light-weight exoskeletons
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To provide the individualized assistance profile for walking in a community, we provide
a preference-based learning scheme for walking assistance in a community. Relevant work:
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4. Strength augmentation using exoskeletons
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We propose a mixed-control scheme for strength augmentation using exoskeletons. The exoskeleton can carry
a heavy load and follow the user's different walking modes, e.g., level walking, stair ascend, and stair descent. Relevant work:
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