2021年博士毕业于中科院沈自所机器人学国家重点实验室，硕士期间参与航天器地面仿真设备及智能总装生产线等应用项目，在机器人机构与结构优化以及控制器设计方面积累了实践经验。博士期间从事套索传动原理及其机器人应用等方面的科研工作，在多指灵巧手构型综合与主从控制、套索传动机械臂机构设计与智能控制等方面进行了探索。主持获批国家级项目2项、省部级项目2项，参与国家重点研发、国自然联合基金重点项目等项目多项，多次担任IEEE TASE、RAL、ICRA等机器人领域知名期刊和会议审稿人。以第一或通讯作者发表学术论文30余篇，申请/授权发明专利20余项，参与制定国家标准1项。目前主要研究方向为：机器人灵巧手与自平衡外骨骼。

招生专业

081102-检测技术与自动化装置

081104-模式识别与智能系统

招生方向

机器人技术与应用，包括多指灵巧手与自平衡外骨骼等

2023-01~现在, 中国科学院深圳先进技术研究院, 高级工程师
2021-01~2022-12,中国科学院深圳先进技术研究院, 博士后

专利成果

（ 1 ） 一种带触觉与弯曲感知功能的软体手指机构及软体手, 发明专利, 2022, 专利号: CN114179119A
（ 2 ） 基于套索驱动的两自由度柔顺缓冲内窥镜, 发明专利, 2021, 专利号: CN113520274A
（ 3 ） 一种自动化托插装配装置, 专利授权, 2018, 专利号: CN108907658A
（ 4 ） 一种四自由度光轴平行性调校装置, 专利授权, 2017, 专利号: CN107462399A
（ 5 ） 一种六自由度大行程高精度复位装置, 专利授权, 2017, 专利号: CN107462393A
（ 6 ） 导弹弹尾叶片合拢机, 发明专利, 2017, 专利号: CN107328318A
（ 7 ） 一种定长金属丝缠绕装置, 专利授权, 2017, 专利号: CN107309367A
（ 8 ） 一种基于杠杆增力原理的施力装置, 发明专利, 2017, 专利号: CN107121261A
（ 9 ） 用于自动化生产线喷码系统的六自由度喷码装置, 发明专利, 2017, 专利号: CN107116901A
（ 10 ） 一种用于化工品药筒填充药品的装药装置, 发明专利, 2016, 专利号: CN106044193A
（ 11 ） 多自由度舱段位姿调节装置, 发明专利, 2016, 专利号: CN106041513A
（ 12 ） 一种大型变压器铁芯视觉检测系统, 发明专利, 2016, 专利号: CN106017359A
（ 13 ） 一种微重力两自由度随动平衡吊挂、转移装置, 发明专利, 2016, 专利号: CN105931522A
（ 14 ） 一种桶装水搬运机器人, 实用新型, 2016, 专利号: CN205415630U

论文发表

（1） Vibration suppression method for flexible link underwater manipulator considering torsional flexibility based on adaptive PI controller with nonlinear disturbance observer, OCEAN ENGINEERING, 2023.
（2） Tracking control strategy for space flexible manipulator considering nonlinear friction torque based on adaptive fuzzy compensation sliding mode controller, ADVANCES IN SPACE RESEARCH, 2023.
（3） Master-Slave Control of the Robotic Hand Driven by Tendon-Sheath Transmission, Intelligent robotics and applications : Part I /, 2023.
（4） Development and Evaluation of a Hip Exoskeleton for Lateral Resistance Walk Exercise, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023.
（5）  Model identification control strategy for coupled elastic joint flexible load drive system based on NNSMC controller and new deformation description, JOURNAL OF THE FRANKLIN INSTITUTE, 2023.
（6） Inertial Sensing for Lateral Walking Gait Detection and Application in Lateral Resistance Exoskeleton, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023.
（7） Methods to Recognize Depth of Hard Inclusions in Soft Tissue Using Ordinal Classification for Robotic Palpation, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2022.
（8） 基于干扰观测器的含有柔性关节的柔性机械臂抑振策略, Vibration suppression strategy for the flexible manipulator with a flexible joint based on an disturbance observer, 振动与冲击, 2022.
（9） Modeling and control strategy of flexible joint servo system in humanoid manipulator driven by tendon-sheath, JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2022.
（10） Dynamic modeling and fuzzy compensation sliding mode control for flexible manipulator servo system, APPLIED MATHEMATICAL MODELLING, 2022.
（11） Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network, Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network, CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2022.
（12） RBF network-based adaptive sliding mode control strategy for the tendon-sheath driven joint of a prosthetic hand, TECHNOLOGY AND HEALTH CARE, 2022.
（13） Design and Characteristics of 3D Magnetically Steerable Guidewire System for Minimally Invasive Surgery, IEEE ROBOTICS AND AUTOMATION LETTERS, 2022.
（14） Vibration Suppression Method Based on PI Fuzzy Controller Containing Disturbance Observe for Dual-flexible Manipulator with an Axially Translating Arm, INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022.
（15） Adaptive sliding mode robust control of manipulator driven by tendon-sheath based on HJI theory, MEASUREMENT & CONTROL, 2022.
（16） Dynamic modeling and control for dual-flexible servo system considering two-dimensional deformation based on neural network compensation, MECHANISM AND MACHINE THEORY, 2022.
（17） Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB, ALEXANDRIA ENGINEERING JOURNAL, 2022.
（18） Vibration Suppression for Two-Inertia System With Variable-Length Flexible Load Based on Neural Network Compensation Sliding Mode Controller and Angle-Independent Method, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022.
（19） Control Method of Flexible Manipulator Servo System Based on a Combination of RBF Neural Network and Pole Placement Strategy, MATHEMATICS, 2021.
（20） 七自由度仿人机械臂正逆运动学及工作空间分析, Forward and Inverse Kinematics and Workspace Analysis of a 7-DOF Humanoid Manipulator, 组合机床与自动化加工技术, 2021.
（21） Joint Modeling and Closed-Loop Control of a Robotic Hand Driven by the Tendon-Sheath, IEEE ROBOTICS AND AUTOMATION LETTERS, 2021.
（22） 灵巧手最小抓取作用力规划, The Minimum Grip Force Planning of the Dexterous Hands, 组合机床与自动化加工技术, 2020.
（23） Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator, IEEE ACCESS, 2020.
（24） 套索传动机械臂传动特性分析与补偿控制, Transmission Characteristics Analysis and Compensation Control of Tendon-sheath Transmission Manipulator, 组合机床与自动化加工技术, 2020.
（25） Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath, JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020.
（26） Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator, SENSORS, 2020.
（27） 一种新型跨声速风洞捕获轨迹系统的设计与分析, Design and Analysis of a New Captive Trajectory System for Transonic Wind Tunnel, 机床与液压, 2019.
（28） 6-UPS正交并联机构运动学分析与研究, Kinematics Analysis and Research of 6-UPS Quadrature Parallel Mechanism, 组合机床与自动化加工技术, 2019.
（29） 导弹总装自动对接装配机构的设计与研究, Design and Research of Automatic Adjustment Mechanism for Docking of Missile Assembly, 组合机床与自动化加工技术, 2018.
（30） 扭振系统试验方案的可行性仿真验证, Simulation and Verification of Feasibility for the Torsional Vibration System Test Scheme, 系统仿真学报, 2018.
（31） Process simulation and optimization of ammunition filling robot based on DELMIA, PROCEEDINGS - 2017 2ND INTERNATIONAL CONFERENCE ON CYBERNETICS, ROBOTICS AND CONTROL, CRC 2017, 2017.
（32） 基于6R机器人的自动脱模系统总体设计, 组合机床与自动化加工技术, 2017.
（33） 一种新型多工位分步自动装压药系统设计, 火工品, 2017.
（34） Effective Validation of the Semi-physical Test Bench for Sun Orientation, 7TH ANNUAL IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2017), 2017.
（35） 对日定向半物理试验台的加载有效性验证, Effectiveness Validation of the Semi-physical Test Bench for the Sun Orientation, 宇航学报, 2017.
（36） Dynamic modeling and fuzzy adaptive control strategy for space flexible robotic arm considering joint flexibility based on improved sliding mode controller, ADVANCES IN SPACE RESEARCH.

科研项目

（ 1 ） 青年基金项目, 负责人, 国家任务, 2023-01--2025-12
（ 2 ） 广东省区域联合基金-青年基金项目, 负责人, 地方任务, 2021-11--2024-09
（ 3 ） 深圳市优秀科技创新人才培养（博士基础研究启动）项目, 负责人, 地方任务, 2022-04--2024-03