谷国迎 教授
所在系所机器人研究所
办公电话
通讯地址机械与动力工程学院A楼908室
电子邮件guguoying@sjtu.edu.cn
个人主页http://softrobotics.sjtu.edu.cn/


教育背景 2006-2012 上海交通大学机械电子工程专业，博士（硕博连读）
2010-2011 加拿大Concordia大学机械工程系，博士生联合培养
2002-2006 上海交通大学电子科学与技术专业，学士

工作经历 2018.7-至今 上海交通大学机械与动力工程学院，教授，博导
2018.3-2018.10 美国麻省理工学院机械工程系，访问****
2016.1-2018.7 上海交通大学机械与动力工程学院，副教授、博导
2015.2-2015.8 新加坡国立大学机械工程系，访问****
2014-2015 上海交通大学机械与动力工程学院机器人所，讲师、博导
2013-2014 德国Oldenburg大学微机器人与控制工程中心，洪堡****/博士后
2012-2014 上海交通大学机械与动力工程学院，博士后


研究方向 机器人学:
1）软体机器人学
2）软体仿生机器人与穿戴式机器人
3）智能材料驱动、传感与运动控制
4）机器学习与3D打印
每年有1-2名博士生和硕士生招生计划！
欢迎有软体机器人学、机器人学、仿生学、智能材料、机器学习、连续介质力学、高分子材料背景的博士后、研究生联系学习和交流。


科研项目 * 2019-2022 国家自然科学基金重点项目"仿生拉压体双足机器人原理与关键技术"，交大方课题负责人
* 2017-2019 国家自然科学基金优秀青年基金“软体机器人设计与控制”，负责人
* 2016-2019 上海市“科技创新行动计划”基础研究领域项目“基于软体智能材料的类人灵巧手设计与控制”，负责人
* 2015-2017 国家自然科学基金青年项目“超高带宽AFM纳米定位平台的主动阻尼与动态磁滞补偿控制技术研究”，负责人

代表性论文专著 在机器人学、机电一体化和多学科交叉领域的国际权威期刊（如Science Robotics, Science Advances, IEEE T-RO, Advanced Functional Materials, Soft Robotics, IEEE/ASME T-MECH等）发表SCI论文70余篇。
* 通讯作者。
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【2020】
[77]. Zequn Shen, Feifei Chen, Xiangyang Zhu, Ken-Tye Yong* and Guoying Gu*, “Stimuli-responsive functional materials for soft robotics,” Journal of Materials Chemistry B, Accepted, 18 August 2020.
[76]. Guoying Gu*, Dong Wang, Lisen Ge and Xiangyang Zhu, “Analytical modeling and design of generalized pneu-net soft actuators with 3D deformations,” Soft Robotics, Accepted, 1 July 2020.
[75]. Fan Zhang, Shice Wei, Weiwei Wei, Jiang Zou, Guoying Gu, Dongqing Wu, Shuai Bi and FanZhang, “Trimethyltriazine-derived olefin-linked covalent organic framework with ultralong nanofibers,” Science Bulletin, vol. 65, no. 19, pp. 1659-1666, 2020.
[74]. Sujie Chen, Ming Li, Yukun Huan, Haipeng Xu, Guoying Gu and Xiaojun Guo, “Matrix addressed flexible capacitive pressure sensor with suppressed crosstalk for artificial electronic skin,” IEEE Transactions on Electron Devices, vol. 67, no. 7, pp. 2940-2944, 2020.
[73]. Ningbin Zhang, Lisen Ge, Haipeng Xu, Xiangyang Zhu*, and Guoying Gu*,“3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands,” Sensors & Actuators: A. Physical, vol. 312, pp: 112090, 2020.
[72]. Dong Wang, Haipeng Xu, Jinqiang Wang, Chengru Jiang, Xiangyang Zhu, Qi Ge, and Guoying Gu*, “Design of 3D printed programmable horseshoe lattice structures based on a phase-evolution model,” ACS Applied Materials & Interfaces, vol. 12, no. 19, pp. 22146-22156, 2020.
[71]. Dong Wang*, Ling Li, Biao Zhang, Yuan-Fang Zhang, Mao See Wu, Guoying Gu*, and Qi Ge*, “Effect of temperature on the programmable helical deformation of a reconfigurable anisotropic soft actuator,” International Journal of Solids and Structures, vol. 199, pp. 169-180, 2020.
[70]. Sujie Chen, Ming Li, Yukun Huang, Haipeng Xu, Guoying Gu, and Xiaojun Guo*, “Matrix Addressed flexible capacitive pressure sensor with suppressed crosstalk for artificial electronic skin,” IEEE Transactions on Electron Devices, Accepted, 20 April 2020.
[69]. Jianshu Zhou, Yonghua Chen*, Yong Hu, Zheng Wang, Yunquan Li, Guoying Gu and Yunhui Liu, “Adaptive variable stiffness particle phalange for robust and durable robotic grasping,” Soft Robotics, Accepted, 21 February 2020.
[68]. Chao Gao#, Zhichao Li#, Jiang Zou#, Jin Cheng, Kai Jiang, Changrun Liu, Guoying Gu*, Wei Tao* and Jie Song*, “Mechanical effect on gene transfection based on dielectric elastomer actuator,” ACS Applied Bio Materials, vol. 3, no. 5, pp. 2617-2625, 2020.
[67]. Xinjun Sheng, Lei Tang, Xinjia Huang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots,” Science China Technological Sciences, Accepted, 13 January 2020.
[66]. Haipeng Xu, Zequn Shen and Guoying Gu*, “Performance characterization of ionic-hydrogel based strain sensors,” Science China Technological Sciences, vol. 63, no. 6, pp. 923-930, 2020.
[65]. Lisen Ge, Feifei Chen, Dong Wang, Yifan Zhang, Dong Han, Tao Wang and Guoying Gu*, “Design, modeling and evaluation of fabric-based pneumatic actuators for soft wearable assistive gloves,” Soft Robotics, Accepted, December 24, 2019.
[64]. Lei Tang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms,” Science China Technological Sciences, vol. 63, no. 2, pp: 255-264, 2020.
【2019】
[63]. Hyunseok Shim, Kyoseung Sim, Faheem Ershad, Pinyi Yang, Anish Thukral, Zhoulyu Rao, Hae-Jin Kim, Yanghui Liu, Guoying Gu, Li Gao, Xinran Wang, Yang Chai, and Cunjiang Yu, “Stretchable elastic synaptic transistors for neurologically integrated soft engineering systems,” Science Advances, vol. 5, no. 10, p. eaax4961, 2019.
[62]. Zhichao Li, Chao Gao, Sisi Fan, Jiang Zou, Guoying Gu, Mingdong Dong and Jie Song, “Cell nanomechanics based on dielectric elastomer actuator device,” Nano-Micro Letters, vol. 11, p. 98, 2019.
[61]. Jiang Zou and Guoying Gu*, “Dynamic modeling of dielectric elastomer actuators with a minimum energy structure,” Smart Materials and Structures, vol. 28, no. 8, p. 085039, 2019.
[60]. Feifei Chen, Kun Liu, Yiqiang Wang, Jiang Zou, Guoying Gu* and Xiangyang Zhu, “Automatic Design of Soft Dielectric Elastomer Actuators with Optimal Spatial Electric Fields,” IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1150-1165, 2019.
[59]. Jiang Zou and Guoying Gu*, “Feedforward control of the rate-dependent viscoelastic hysteresis nonlinearity in dielectric elastomer actuators,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2340-2347, 2019.
[58]. Shuo Jiang, Haipeng Xu, Ling Li, Junkai Xu, Guoying Gu, and Peter B.Shull, “Stretchable e-skin patch for gesture recognition on the back of the hand,” IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 647 - 657, 2019.
[57]. Sujie Chen, Sai Peng, Wenjian Sun, Guoying Gu, Qing Zhang, and Xiaojun Guo, “Scalable processing ultra-thin polymer dielectric films with a generic solution based approach for wearable soft electronics,” Advanced Materials Technology, vol. 4, no. 7, p. **, 2019.
[56]. Lei Tang, Jie Huang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Path tracking of a cable-driven snake robot with a two-level motion planning method,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 3, pp. 935-946, 2019
[55]. Jiang Zou and Guoying Gu*, “Feedforward control of the rate-dependent viscoelastic hysteresis nonlinearity in dielectric elastomer actuators,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2340-2347, 2019. (Also accepted by ICRA 2019!)
[54]. Guoying Gu*, Haipeng Xu, Sai Peng, Ling Li, Sujie Chen, Tongqing Lu, and Xiaojun Guo, “Integrated soft ionotronic skin with stretchable and transparent hydrogel-elastomer ionic sensors for hand-motion monitoring,” Soft Robotics, vol. 6, no. 3, pp. 368-376, 2019..
[53]. Linlin Li, Chunxia Li, Guoying Gu* and Limim Zhu, "Modified repetitive control based cross-coupling compensation approach for a piezoelectric tube scanner of Atomic Force Microscopes," IEEE/ASME Transactions on Mechatronics, vol. 24, no. 2, pp. 666-676, 2019
[52] Yuan-Fang Zhang#, Ningbin Zhang#, Hardik Hingorani, Ningyuan Ding, Dong Wang, Chao Yuan, Biao Zhang, Guoying Gu*, Qi Ge*, "Fast-Response, Stiffness-Tunable Soft Actuator by Hybrid Multimaterial 3D Printing," Advanced Functional Materials, vol. 29, no. 15, p. **, 2019.
[51]. Jiang Zou and Guoying Gu*, "High-precision tracking control of a soft dielectric elastomer actuator with inverse viscoelastic hysteresis compensation," IEEE/ASME Transactions on Mechatronics, vol. 24, no. 1, pp. 36 – 44, 2019.
【2018】
[50] Guoying Gu*, Jiang Zou, Ruike Zhao, Xuanhe Zhao*, and Xiangyang Zhu*, "Soft wall-climbing robots," Science Robotics, vol. 3, no.25, eaat2874, 2018.
[49]. Hai-Tao Zhang, Bo Hu, Linlin Li, Zhiyong Chen, Dongrui Wu, Bowen Xu, Xiang Huang, Guoying Gu and Ye Yuan, "Distributed Hammerstein modeling for cross-coupling effect of multi-axis piezoelectric micropositioning stages," IEEE/ASME Transactions on Mechatronics, vol. 23, no. 6, pp. 2794-2804, 2018
[48]. Lisen Ge#, Tianyu Wang#, Ningbin Zhang and Guoying Gu*, “Fabrication method of soft pneumatic network actuators with oblique chambers,” Journal of Visualized Experiments (JoVE), vol. 138, article e58277, doi:10.3791/58277, 2018.
[47].Ling Li#, Shuo Jiang#, Peter B. Shull and Guoying Gu*, “SkinGest: Artificial Skin for Gesture Recognition via Filmy Stretchable Strain Sensors,” Advanced Robotics, vol. 32, no. 21, pp. 1112-1121, 2018.
[46].Wentao Dong, Youhua Wang, Ying Zhou, Yunzhao Bai, Zhaojie Ju, Jiajie Guo, Guoying Gu, Kun Bai, Gaoxiang Ouyang, Shiming Chen, Qin Zhang, and Yongan Huang*, “Soft human–machine interfaces: design, sensing and stimulation,” International Journal of Intelligent Robotics and Applications, Accepted 2018.
[45].Jiang Zou and Guoying Gu*, “Modeling the viscoelastic hysteresis of dielectric elastomer actuators with a modified rate-dependent Prandtl-Ishlinskii model,”Polymers, 2018, 10(5), 525.
[44].Dong Wang, Ling Li, Ahmad Serjouei, Longteng Dong, Oliver Weeger, Guoying Gu* and Qi Ge*, “Controllable helical deformations on printed anisotropic composite soft actuators,” Applied Physics Letters, 2018, 112(8): 181905.
[43].Shenglong Xie, Haitao Liu, Jiangping Mei and Guoying Gu, “Modeling and compensation of asymmetric hysteresis for pneumatic artificial muscles with a modified generalized Prandtl–Ishlinskii model,” Mechatronics, 2018, 52: 49-57.
[42]. Lisen Ge#, Longteng Dong#, Dong Wang, Qi Ge* and Guoying Gu*, “A digital light processing 3D printer for fast and high-precision fabrication of soft pneumatic actuators,” Sensors & Actuators: A. Physical, 2018, 273: 285-292.
[41]. Tianyu Wang#, Lisen Ge# and Guoying Gu*, “Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motion,” Sensors & Actuators: A. Physical, 2018, 271: 131-138.
【2017】
[40].Linlin Li, Chunxia Li, Guoying Gu*, and Limin Zhu,“Positive acceleration, velocity and position feedback based damping control approach for piezo-actuated nanopositioning stages,” Mechatronics,2017, 47: 97-104.
[39].Lei Tang#, Jungang Wang#, Yang Zheng, Guoying Gu*, Limin Zhu and Xiangyang Zhu, “Design of a Cable-driven Hyper-redundant Robot with Experimental Validation,” International Journal of Advanced Robotic Systems, 2017, 14(5): 1-12.
[38].Guoying Gu*, Ujjaval Gupta, Jian Zhu, Limin Zhu and Xiangyang Zhu, “Modeling of viscoelastic electromechanical behavior in a soft dielectric elastomer actuator,” IEEE Transactions on Robotics, 2017, 33(5): 1263-1271..
[37].Chunxia Li, Ye Ding, Guoying Gu and Limin Zhu, “Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback,” IEEE/ASME Transactions on Mechatronics, 2017, 22(2): 855-864.
[36].Jiang Zou, Guoying Gu* and Limin Zhu, “Open-loop control of creep and vibration in dielectric elastomer actuators with phenomenological models,” IEEE/ASME Transactions on Mechatronics, 2017, 22(1): 51-58.
[35].Chunxia Li, Guoying Gu, Meiju Yang and Limin Zhu, “High-speed tracking of a nanopositioning stage using modified repetitive control,” IEEE Transactions on Automation Science and Engineering, 2017, 14(3): 1467-1477.
[34].Liang Xu#, Hanqing Chen#, Jiang Zou, W. Dong, Guoying Gu*, Limin Zhu and Xiangyang Zhu, “A Bio-inspired annelid robot: a dielectric elastomer actuated soft robot,” Bioinspiration & Biomimetics, 2017, 12(2): 025003.
[33].Guoying Gu*, Jian Zhu, Limin Zhu and Xiangyang Zhu, “A survey on dielectric elastomer actuators for soft robots,” Bioinspiration & Biomimetics, 2017, 12(1): 011003.
[32].Xiong Xu, Guoying Gu, Zhenhua Xiong, Xinjun Sheng, Xiangyang Zhu, “Development of a decentralized multi-axis synchronous control approach for real-time networks,” ISA Transactions, 2017, 68: 116–126.
【2016】
[31].Chunxia Li, Guoying Gu, Limin Zhu and Chun-Yi Su, “Odd-harmonic repetitive control for high-speed raster scanning of piezo-actuated nanopositioning stages with hysteresis nonlinearity,” Sensors & Actuators: A. Physical, 2016, 244:95-105.
[30].Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “A High-performance Flight Control Approach for Quadrotors using a Modified Active Disturbance Rejection Technique,” Robotics and Autonomous Systems, 2016, 83: 177-187.
[29].Zhi Li, Xiuyu Zhang, Guoying Gu, Xinkai Chen and Chun-Yi Su “A comprehensive dynamic model for magnetostrictive actuators considering different input frequencies with mechanical loads,” IEEE Transactions on Industrial Informatics, 2016, 12(3): 980-990.
[28].Guoying Gu*, Chunxia Li, Limin Zhu and Chun-Yi Su, “Modeling and identification of piezoelectric-actuated stages cascading hysteresis nonlinearity with linear dynamics,” IEEE/ASME Transactions on Mechatronics, 2016, 21(3): 1792-1797.
[27].Guoying Gu*, Limin Zhu, Chun-Yi Su, Han Ding and Sergej Fatikow, “Modeling and control of piezo-actuated nanopositioning stages: A survey,” IEEE Transactions on Automation Science and Engineering, 2016, 13(1): 313-332. (ESI Highly Cited Paper)
【2015】
[26].Guoying Gu, Ujjaval Gupta, Jian Zhu, Limin Zhu and Xiangyang Zhu, “Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model,” Applied Physics Letters, 2015, 107(4): 042907.

[25].Guoying Gu*, Limin Zhu, Chun-Yi Su, Han Ding and Sergej Fatikow, “Proxy-based sliding mode tracking control of piezoelectric-actuated nanopositioning stages,” IEEE/ASME Transactions on Mechatronics, 2015, 20(4): 1956-1965.
[24].Meiju Yang, Jinbo Niu, Chunxia Li, Guoying Gu and Limin Zhu, “High-bandwidth control of nanopositioning stages via an inner-loop delayed position feedback,” IEEE Transactions on Automation Science and Engineering, 2015, 12(4): 1357-1368.
[23].Guoying Gu*, Chunyi Su and Limin Zhu, “Robust inverse compensation and control of a class of non-linear systems with unknown asymmetric backlash non-linearity,” IET Control Theory & Applications, 2015, 9(12):1869-1877.
[22].Meiju Yang, Chunxia Li, Guoying Gu and Limin Zhu, “Modeling and compensating the dynamic hysteresis of piezoelectric actuators via a modified rate-dependent Prandtl-Ishlinskii model,” Smart Materials and Structures, 2015, 24(12): 125006.
[21].Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “Solving the boundary value problem of an under-actuated quadrotor with subspace stabilization approach,” Journal of Intelligent and Robotic Systems, 2015, 80(2): 299-311.

[20].Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “Development of a quadrotor test bed: modeling, parameter identification, controller design, and trajectory generation,”International Journal of Advanced Robotic Systems, 2015, 12:7| doi:10.5772 /59618.
【2014】
[19].Guoying Gu*, Limin Zhu and Chun-Yi Su, “Modeling and compensation of asymmetric hysteresis nonlinearity for piezoceramic actuators with a modified Prandtl-Ishlinskii model,” IEEE Transactions on Industrial Electronics, 2014, 61(3): 1583-1595. (ESI Highly Cited Paper)
[18].Meiju Yang, Guoying Gu and Limin Zhu, “High-bandwidth tracking control of piezo-actuated nanopositioning stages using closed-loop input shaper,” Mechatronics, 2014, 24(6): 724-733.
[17].Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “High-performance trajectory tracking control of a quadrotor with disturbance observer,” Sensors & Actuators: A. Physical, 2014, 211: 67-77.
[16].Meiju Yang, Guoying Gu* and Limin Zhu, “A modified Prandtl-Ishlinskii model for rate-dependent hysteresis nonlinearity using mth-power velocity damping mechanism,” International Journal of Advanced Robotic Systems, 2014, 11: 163 | doi: 10.5772/58984.
[15].Guoying Gu, Limin Zhu and Chun-Yi Su, “Integral resonant damping for high-bandwidth control of piezoceramic stack actuators with asymmetric hysteresis nonlinearity,” Mechatronics, 2014, 24(4): 367-375.
[14].Guoying Gu*, Limin Zhu and Chun-Yi Su “High-precision control of piezoelectric nanopositioning stages using hysteresis compensator and disturbance observer,” Smart Materials and Structures, 2014, 23(10): 105007.
[13].Guoying Gu* and Limin Zhu, “Comparative experiments regarding approaches to feedforward hysteresis compensation for piezoceramic actuators,” Smart Materials and Structures, 2014, 23(9): 095029.
[12].Guoying Gu* and Limin Zhu, “An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages,” Review of Scientific Instruments, 2014, 85(5): 055112.
【2013】
[11].Guoying Gu*, Limin Zhu, Chun-Yi Su and Han Ding, “Motion control of piezoelectric positioning stages: modeling, controller design and experimental evaluation,” IEEE/ASME Transactions on Mechatronics, 2013, 18(5): 1459-1471. (ESI Highly Cited Paper and ESI Hot Paper)
[10].Guoying Gu*, Zhi Li, Limin Zhu and Chun-Yi Su, “A comprehensive dynamic modeling approach for giant magnetostrictive material actuators,” Smart Materials and Structures, 2013, 22(12): 125005.
[9].Guoying Gu and Limin Zhu, “Motion control of piezoceramic actuators with creep, hysteresis and vibration compensation,” Sensors & Actuators: A. Physical, 2013, 197: 76–87.
[8].Chunxia Li, Guoying Gu, Meiju Yang and Limin Zhu, “Design, analysis and testing of a parallel-kinematic high-bandwidth XY nanopositioning stage,” Review of Scientific Instruments, 2013, 84(12): 125111.
[7].Meiju Yang, Guoying Gu and Limin Zhu, “Parameter identification of the generalized Prandtl-Ishlinskii model for piezoelectric actuators using modified particle swarm optimization,” Sensors & Actuators: A. Physical, 2013, 189: 254–265.
【2010-2012】
[6].Guoying Gu, Meiju Yang and Limin Zhu, “Real-time inverse hysteresis compensation of piezoelectric actuators with a modified Prandtl-Ishlinskii model,” Review of Scientific Instruments, 2012, 83(6): 065106.
[5].Leijie Lai, Shiyu Zhou, Guoying Gu and Limin Zhu, “Development of an automatic approaching system for electrochemical nanofabrication using visual and force-displacement sensing,” Sensors, 2012, 12(7): 8465-8476.
[4].Leijie Lai, Guoying Gu and Limin Zhu,, “Design and control of a decoupled two degree of freedom translation parallel micro-positioning stage,” Review of Scientific Instruments, 2012, 83(4): 045105.
[3].Guoying Gu and Limin Zhu, “Modeling of rate-dependent hysteresis in piezoelectric actuators using a family of ellipses,” Sensors & Actuators: A. Physical, 2011, 157(2): 303-309.
[2].Guoying Gu, Limin Zhu, Zhenhua Xiong and Han Ding, “Design of a distributed multiaxis motion control system using the IEEE-1394 bus,” IEEE Transactions on Industrial Electronics, 2010, 57(12): 4209-4218.
[1].Guoying Gu and Limin Zhu, “High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model,” Review of Scientific Instruments, 2010, 81(8): 085104.
中文期刊论文：
[3].王俊刚#，汤磊#，谷国迎*，朱向阳，“超冗余度机械臂跟随末端轨迹运动算法及其性能分析”，机械工程学报，2018, 54(3): 18-25..
[2].魏树军，王天宇，谷国迎*，“基于纤维增强型驱动器的气动软体抓手设计”，机械工程学报，2017，53(13):29-38.
[1].汤磊，王俊刚，李琳琳，谷国迎*，朱利民，朱向阳，“用于线绳传动机械臂的模块化驱动装置设计”，机械设计与研究，2016，32(2): 15-18.

教学工作 * 系统模型、分析与控制-A类(ME369)，本科生必修课，64学时，4学分。

软件版权登记及专利 *专利名称：基于电活性聚合物的仿生变形环节机器人，授权号: ZL9.7
*专利名称：模块化线绳驱动连续体机械臂，授权号: ZL0.8
*专利名称：可径向运动的电活性聚合物环肌及其制作方法，授权号：ZL0.8
*专利名称：运动解耦的绳驱动连续体机械臂及机器人，授权号: ZL0.2
*专利名称：基于电活性高弹体聚合物的位移传感器，授权号: ZL0.X
*专利名称：基于外部视觉的四旋翼无人飞行器全自主飞行控制系统，授权号：ZL0.5
*专利名称：线绳传动机械臂的驱动装置，授权号：ZL0.7
*专利名称：压电陶瓷驱动器的高速纳米精度运动控制方法及系统，授权号：ZL1.2
*专利名称：二自由度平动并联高带宽微动平台，授权号：ZL5.3
*专利名称：微纳仪器装备中模板快速逼近和原位检测装置及方法，授权号：ZL8.0
*专利名称：二自由度平动并联解耦微动平台，授权号：ZL6.X
*专利名称：实时磁滞逆模型对系统进行补偿实现的方法，授权号：ZL8.6
*专利名称：基于IEEE-1394串行总线的多轴运动控制卡，授权号：ZL4.5

学术兼职 * Associate Editor, IEEE Transactions on Robotics, 2019-
* Topic Editor on 'Soft Robotics with Electroactive Polymers', Frontiers in Robotics and AI, 2015-
* Editoral Board Member, International Journal of Advanced Robotic Systems, 2015-
* Associate Editor, The 2016 IEEE International Conference on Automation Science and Engineering
* Guest Editor, International Journal of Advanced Robotic Systems, Special Issue “Micro/Nano Mechatronics and Automation”
* Co-Chair, The 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), Session "Micro/Nano Actuators"
* IEEE Member, ASME Member，中国机械工程学会高级会员
* IEEE/ASME Transactions on Mechatronics、IEEE Transactions on Industrial Electronics、IEEE Transactions on Automation Science and Engineering、IEEE Transactions on Control Systems Technology等期刊审稿人

荣誉奖励 * 教育部青年****
* 国家优秀青年基金获得者
* 德国洪堡****
* 教育部自然科学一等奖（排名2）
* 20116 International Conference on Intelligent Robotics and Applications最佳论文奖
* 2014 上海市优秀博士学位论文
* 2013 第三届上银优秀机械博士论文奖
* 2011 IEEE International Conference on Information and Automation最佳论文奖