Yuan H, Zhang J, Han J. Low Computational Overhead Tube-based MPC Scheme for Reliable Path Following of Articulated Continuum Robots. ENGINEERING mechanical engineering. Published online 2026.
Yuan H, Jing Z, He Y, Han J, Zhang J. Integrated tip tracking and whole-body collision avoidance for multi-segment continuum robots based on real-time shape reconstruction. Biomimetic Intelligence and Robotics. Published online March 2026:100323. doi:10.1016/j.birob.2026.100323
Yuan H, Jing Z, He Y, Han J, Zhang J. Hybrid Offline–Online Configuration Planning Approach for Continuum Robots Based on Real-Time Shape Estimation. Sensors. 2026;26(4):1129. doi:10.3390/s26041129
Yin W, Jing Z, Han J, Zhang J. A Comparison of Optimized and Stride-Wise Adaptive Control on the Biomechanical Effects of Personalized Ankle Exoskeleton Assistance During High-Speed Walking. Journal of Biomechanical Engineering. 2026;148(3):031009. doi:10.1115/1.4070651
Yin W, Ding J, Wang L, Jing Z, Han J, Zhang J. A Personalized Lightweight Framework for Kinematic and Dynamic Estimation in Exoskeleton-Assisted Locomotion Under Varying Walking Conditions. IEEE Trans Instrum Meas. 2026;75:1-14. doi:10.1109/TIM.2026.3654730
Han J, Yin W, Song Y, Jing Z, Han J, Zhang J. A Novel Cable-Tightness-Based Control Strategy With High-Accuracy and Seamless Gait Assistance for Cable-Driven Exoskeletons. IEEE Robot Autom Lett. Published online 2026:1-8. doi:10.1109/LRA.2026.3666390
Ding J, Wang L, Chen J, …, Zhang J. A Lightweight Compact Cable-Driven Hip Exoskeleton with High Torque Capacity. IEEE Robotics and Automation Letters. Published online 2026.
Yuan H, Zhang J. Closed-Loop Trajectory Tracking Control for Continuum Robots: An MPC-based Approach. In: 2025 10th International Conference on Intelligent Computing and Signal Processing (ICSP). IEEE; 2025:723-727. doi:10.1109/ICSP65755.2025.11086984
Yuan H, Zhang J. A Hybrid Offline-Online Cooperative Approach to Efficient Trajectory Planning for Snake-Arm Robot. In: 2025 IEEE 8th International Conference on Mechatronics and Computer Technology Engineering (MCTE). IEEE; 2025:214-218. doi:10.1109/MCTE67374.2025.11213533
Yin W, Jing Z, Ding J, Han J, Han J, Zhang J. Stride-Wise Adaptive Assistance Strategy for Ankle Exoskeleton Under Varying Walking Conditions. IEEE Trans Neural Syst Rehabil Eng. 2025;33:3488-3497. doi:10.1109/TNSRE.2025.3602098
Song Y, Han J, Yin W, Han J, Zhang J. Evaluation of a Supportive Lower-Limb Exoskeleton for Reducing Knee Contact Force During Walking. In: 2025 44th Chinese Control Conference (CCC). IEEE; 2025:4721-4726. doi:10.23919/CCC64809.2025.11179282
Peng Y, Zhang F, Wang L, Han J, Zhang J. Exoskeleton assistance optimization for Charcot-Marie-Tooth patients based on customized forward predictive simulation. Computer Methods in Biomechanics and Biomedical Engineering. Published online October 5, 2025:1-10. doi:10.1080/10255842.2025.2566963
Liu X, Yin W, Ding J, …, Zhang J. Surface Electromyography-Based Knee Joint Angle Prediction Using Temporal Alignment-Optimized Long Short-Term Memory. In: 2025 4th International Conference on Image Processing, Computer Vision and Machine Learning (ICICML). IEEE; 2025:1754-1759. doi:10.1109/ICICML67980.2025.11333733
Li Z, Han J, Zhang J. Application of Improved nnU-Net in MRI Image Segmentation of Breast Tumors. In: 2025 5th International Conference on Artificial Intelligence, Big Data and Algorithms (CAIBDA). IEEE; 2025:196-199. doi:10.1109/CAIBDA65784.2025.11183463
Jing Z, Han H, Han J, Zhang J. Effect of Vest Load Carriage on Cardiometabolic Responses with Load Position, Load Mass, and Walking Conditions for Young Adults. Bioengineering. 2025;12(2):202. doi:10.3390/bioengineering12020202
Chen J, Yin W, Ding J, …, Zhang J. Interaction-based rapid heuristic optimization of exoskeleton assistance during walking. Commun Eng. 2025;5(1):19. doi:10.1038/s44172-025-00574-4
Bian Q, Yin W, Han J, Han J, Zhang J. Tuning the Magnitude and Timing of Exoskeleton Assistance using a Proportional-Joint-Moment Controller Improves Human Walking Performance. In: 2025 5th International Conference on Computer, Control and Robotics (ICCCR). IEEE; 2025:380-385. doi:10.1109/ICCCR65461.2025.11072635
Wang L, Li X, Peng Y, Han J, Zhang J. Balance Evaluation Based on Walking Experiments with Exoskeleton Interference. Bioengineering. 2024;11(4):386. doi:10.3390/bioengineering11040386
Slade P, Atkeson C, Donelan JM, , …, Zhang J, Collins S. On human-in-the-loop optimization of human–robot interaction. Nature. 2024;633(8031):779-788. doi:10.1038/s41586-024-07697-2
Liu Z, Han J, Han J, Zhang J. Design and Evaluation of a Lightweight, Ligaments-Inspired Knee Exoskeleton for Walking Assistance. IEEE Robot Autom Lett. 2024;9(10):8491-8498. doi:10.1109/LRA.2024.3438041
Jing Z, Han H, Han J, Zhang J. A Relationship Model Between Optimized Exoskeleton Assistance and Gait Conditions Improves Multi-Gait Human-in-the-Loop Optimization Performance. IEEE Trans Neural Syst Rehabil Eng. 2024;32:4304-4313. doi:10.1109/TNSRE.2024.3506974
Huang X, Peng Y, Wang L, Jing Z, Han J, Zhang J. Personalized Forward Prediction Simulation Improves the Efficiency of Human-in-the-Loop Optimization. In: 2024 8th International Conference on Electrical, Mechanical and Computer Engineering (ICEMCE). IEEE; 2024:2078-2085. doi:10.1109/ICEMCE64157.2024.10862495
Han J, Yin W, Jing Z, Han J, Zhang J. Self-Regulating Pre-Tensioning Parameter Strategy for Control of Cable-Driven Knee Exoskeleton. In: 2024 China Automation Congress (CAC). IEEE; 2024:1118-1123. doi:10.1109/CAC63892.2024.10865389
Chen J, Ding J, Han J, Zhang J. Design and Evaluation of a Bilateral Mobile Ankle Exoskeleton With High-Efficiency Actuation. IEEE Robot Autom Lett. 2024;9(6):5528-5535. doi:10.1109/LRA.2024.3391695
Peng Y, Chen J, Wang L, Han J, Zhang J. Design and Evaluation of a Bidirectional Ankle Exoskeleton System. In: 2023 38th Youth Academic Annual Conference of Chinese Association of Automation (YAC). IEEE; 2023:481-485. doi:10.1109/YAC59482.2023.10401395
Jing Z, Han J, Zhang J. Comparison of biomechanical analysis results using different musculoskeletal models for children with cerebral palsy. Front Bioeng Biotechnol. 2023;11:1217918. doi:10.3389/fbioe.2023.1217918
Chen J, Ding J, Zhang J. Pilot study on human-in-the-loop optimization of ankle exoskeleton assistance based on plantar pressure interaction. In: Shmaliy YS, Sun Y, Zaidi H, et al., eds. Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023). SPIE; 2023:88. doi:10.1117/12.3009517
Yin W, Wang W, Ding J, Liu J, Zhang J. Evaluation of a Bionic Cable-driven Ankle Exoskeleton System for Human Walking Assistance. In: 2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC). IEEE; 2022:1270-1274. doi:10.1109/YAC57282.2022.10023847
Wang W, Ding J, Wang Y, Liu Y, Zhang J, Liu J. 踝关节外骨骼助行模式对下肢肌肉激活与协调模式的影响. 生物医学工程学杂志. 2022;39(0):0. doi:10.7507/1001-5515.202107040
Wang W, Chen J, Ding J, Zhang J, Liu J. Improving Walking Economy With an Ankle Exoskeleton Prior to Human-in-the-Loop Optimization. Front Neurorobot. 2022;15:797147. doi:10.3389/fnbot.2021.797147
Liu Z, Yin W, Han J, Zhang J. Design and Evaluation of a Self-Aligning Knee Exoskeleton for Knee Extension Assistance During Walking. In: 2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC). IEEE; 2022:1572-1577. doi:10.1109/YAC57282.2022.10023614
Chen J, Han J, Zhang J. Design and Evaluation of a Mobile Ankle Exoskeleton With Switchable Actuation Configurations. IEEE/ASME Trans Mechatron. 2022;27(4):1846-1853. doi:10.1109/TMECH.2022.3175731
Zhou T, Xiong C, Zhang J, Chen W, Huang X. Regulating Metabolic Energy Among Joints During Human Walking Using a Multiarticular Unpowered Exoskeleton. IEEE Trans Neural Syst Rehabil Eng. 2021;29:662-672. doi:10.1109/TNSRE.2021.3065389
Zhang J, Collins SH. The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations. Front Neurorobot. 2021;15:653409. doi:10.3389/fnbot.2021.653409
Zhang F, Chen J, Wang W, Han H, Li X, Zhang J. Optimization of Gait Assistance Pattern for Charcot-Marie-Tooth Patients Based on Forward Predictive Simulation. In: 2021 International Conference on Computer, Control and Robotics (ICCCR). IEEE; 2021:199-203. doi:10.1109/ICCCR49711.2021.9349388
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Wang W, Chen J, Ji Y, Jin W, Liu J, Zhang J. Evaluation of Lower Leg Muscle Activities During Human Walking Assisted by an Ankle Exoskeleton. IEEE Trans Ind Inf. 2020;16(11):7168-7176. doi:10.1109/TII.2020.2974232
Li X, Chen J, Wang W, Zhang F, Han H, Zhang J. Using Predictive Simulation Methods to Design Suitable Assistance Modes for Human Walking on Slopes. In: 2020 3rd International Conference on Control and Robots (ICCR). IEEE; 2020:169-175. doi:10.1109/ICCR51572.2020.9344320
Han H, Li X, Zhang F, Han J, Zhang J. Design and Implementation of a Voice-Controlled Human-Following Mobile Toolbox. In: 2020 IEEE 6th International Conference on Control Science and Systems Engineering (ICCSSE). IEEE; 2020:40-46. doi:10.1109/ICCSSE50399.2020.9171968
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Jing Z, Liu H, Ren P, Wang W, Zhang J. Automatic Lower Limb Critical Angle Assessment System for Patients with Robot-based Knee Replacement. In: 2019 Chinese Control Conference (CCC). IEEE; 2019:4643-4648. doi:10.23919/ChiCC.2019.8865373
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讲授课程
本科：
1. 模拟电子技术， 48学时
研究生：
1. 机器人系统设计与实现， 48学时
2. 基于李雅普诺夫方法的非线性控制， 32学时
