songzhibin@tju.edu.cn
机械电子工程
天津市青年“****”入选者；北洋****-青年骨干教师计划；天津市“131”人才系列；
副教授
融合生理信号的肩关节康复机器人机构设计关键问题与柔顺控制研究

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输电线路杆塔攀爬巡检机器人

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救援侦查型变胞履带机器人研发

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面向骨折复位/康复融合的并联外固定器械设计方法与评价研究

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负重辅助机械开发

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单兵移动增强机器人

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基于个体特征的肩关节康复机器人主/被动康复训练机理研究

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上肢康复机器人系统开发
可折展的外骨骼轮椅一体化移动辅助机器人

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可检测传动力并进行传动的装置
本实用新型公开了一种可折展的外骨骼轮椅一体化移动辅助机器人，本发明将轮椅的快速移动功能、辅助站立功能和辅助行走功能集于一体。

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本发明涉及一种涉及机器人自动化领域中可检测传动力的装置，特别涉及针对辅助血管内微创介入手术机器人的导丝传动、其他医疗机械人以及工业自动化领域要求精确地传动和传动力检测的装置。
Trajectory Tracking Control for Flexible-Joint Robot Based on Extended Kalman Filter and PD Control

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A novel concept and impedance schematic analysis for nonlinear stiffness compliant actuator (NSCA)

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Mechanism design of a multifunctional motion assistant robot combined wheelchair and exoskeleton

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干扰观测器在一种非线性刚度驱动器中的应用

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Preliminary Study on Continuous Recognition of Elbow Flexion/Extension Using sEMG Signals for Bilateral Rehabilitation

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Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method

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基于空间混联机构的人体肩部骨骼运动模型

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A Muscle-Specific Rehabilitation Training Method of the Human Shoulder Based on the Optimal Load Orientation Concept

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A Stiffness-Adaptive Control System for Nonlinear Stiffness Actuators

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基于负载选择的非线性刚度驱动器性能评价

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Design of the Planar Compliant Five-bar Mechanism for Self-aligning Knee Exoskeleton

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Kinematic Analysis and Optimization of a Planar Parallel Compliant Mechanism for Self-alignment Knee Exoskeleton

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Optimisation of Stiffness to Achieve Increased Bandwidth and Torque Resolution in Nonlinear Stiffness Actuators

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Preliminary Study on Continuous Recognition of Elbow Flexion/Extension Using sEMG Signals for Bilateral Rehabilitation

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A Muscle-Specific Rehabilitation Training Method Based on Muscle Activation and the Optimal Load Orientation Concept

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Mechanism Design and Analysis of a Proposed Wheelchair-Exoskeleton Hybrid Robot for Assisting Human Movement

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A Novel Design of Nonlinear Stiffness Actuator for Neurorehabilitation Robots

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Design of an auto-tuning feedback controller based on the stiffness of nonlinear stiffness actuators

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A New Skeleton Model and the Motion Rhythm Analysis for Human Shoulder Complex Oriented to Rehabilitation Robotics

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Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor

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Implementation of Resistance Training Using an Upper-Limb Exoskeleton Rehabilitation Device for Elbow Joint

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Development of an Upper Extremity Motor Function Rehabilitation System and Assessment System

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Design Process of Exoskeleton Rehabilitation Device and Implementation of Bilateral Upper Limb Motor Movement

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Study on the sEMG Driven Upper Limb Exoskeleton Rehabilitation Device in Bilateral Rehabilitation

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A Novel Soft Biomimetic Microrobot with Two Motion Attitudes

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基于手掌拱形的TJU/KCL灵巧手参数优化设计

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Recognition of Motion of Human Upper Limb using SEMG in Real Time: Towards Bilateral Rehabilitation

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Study on Recognition of Upper Limb Motion Pattern Using surface EMG signals for Bilateral Rehabilitation

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Study on Impedance Generation Using an Exoskeleton Device for Upper-Limb Rehabilitation

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Implementation of Self-rehabilitation for Upper Limb based on a Haptic Device and an Exoskeleton Device

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A Novel Motor Function Training Assisted System for Upper Limbs Rehabilitation

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ULERD-based Active Training for Upper Limb Rehabilitation

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Development of a Real-time Upepr Limb’s Motion Tracking Exoskeleton Device for Active Rehabilitation Using an Inertia Sensor

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Development of a Potential System for Upper Limb Rehabilitation Training Based on Virtual Reality

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Development of a New Compliant Exoskeleton Device for Elbow Joint Rehabilitation

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Force Sensor-based Platform for Upper-limb Motor Function for Stroke Assessment

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An Electromyography-driven Central Pattern Generator Model for Robotic Control Application

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Development of a Master-slave System for Upper Limb Rehabilitation,

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A Surface EMG Signals-based Real-time Continuous Recognition for the Upper Limb Multi-motion