Publications (Google Scholar Profile)

PhD Thesis

Adaptive Control of Serial Redundant Robots for Minimally Invasive Surgery
Hang Su.
Politecnico di Milano. 2019.

Selected Publications

Graph Representation Learning and Optimization for Spherical Emission Source Microscopy System
X. Liu, Z. Li, W. Zong, H. Su., P. Liu, and S. Ge
IEEE Transactions on Automation Science and Engineering. 2024.

Human-Robot Collaboration Through a Multi-Scale Graph Convolution Neural Network with Spation-Temporal Attention
Z. Liu, X. Lu, W. Liu, W. Qi, and H. Su.
IEEE Robotics and Automation Letters. 2024.

Whole-Body Teleoperation Control of Dual-Arm Robot Using Sensor Fusion
F. Wang, F. Chen, Y. Dong, Q. Yong, X. Yang, L. Zheng, X. Zhang, and H. Su.
Biomimetics. 2023.

Sensor Fusion-Based Anthropomorphic Control of a Robotic Arm
F. Chen, F. Wang, Y. Dong, Q. Yong, X. Yang, L. Zheng, Y. Gao, and H. Su.
Bioengineering. 2023.

Meta-reinforcement learning based on self-supervised task representation learning
M. Wang, Z. Bing, X. Yao, S. Wang, Kai. H, H. Su. C. Yang, and A. Knoll
Proceedings of the AAAI Conference on Artificial Intelligence. 2023.

Recent advancements in multimodal human–robot interaction
H. Su., W. Qi, J. Chen, C. Yang, J. Sandoval, and MA. Laribi
Frontiers in Neurorobotics. 2023.

An Adaptive Reinforcement Learning-based Multimodal Data Fusion Framework for Human-Robot Confrontation Gaming
W. Qi, H. Fan, H. Karimi, and H. Su.
Neural Networks. 2023.

Fuzzy Approximation-based Task-space Control of Robot Manipulators with Remote Center of Motion Constraint
H. Su., W. Qi, D. Zhang, and J. Chen
IEEE Transactions on Fuzzy Systems. 2022.

A Small Opening Workspace Control Strategy for Redundant Manipulator Based on Rcm Method
M. Guo, H. Su., and C. Yang
IEEE Transactions on Control Systems Technology. 2022.

Human-in-the-loop Control of Soft Exosuits using Impedance Learning on Different Terrains
Z. Li, X. Li, Q. Li, H. Su., Z. Kan, and W. He
IEEE Transactions on Robotics. 2022.

A Human Activity Aware Shared Control Solution for Medical Human-robot Interaction
H. Su., W. Qi, Y. Schmirander, and S. E. Ovur
Assembly Automation. 2022.

Incorporating Model Predictive Control with Fuzzy Approximation for Robot Manipulation under Remote Center of Motion Constraint
H. Su. and J. Zhang
Complex and Intelligent Systems. 2021

Deep Neural Network Approach in Emg-based Force Estimation for Human-robot Interaction
H. Su., W. Qi, S. Ertug Ovur, Z. Li, G. Ferrigno, and E. De Momi
IEEE Transactions on Artificial Intelligence. 2021.

A Novel Autonomous Learning Framework to Enhance Semg-based Hand Gesture Recognition using Depth Information
S. E. Ovur, X. Zhou, W. Qi, L. Zhang, Y. Hu, H. Su*., G. Ferrigno, and E. De Momi
Biomedical Signal Processing and Control. 2021.

Development and Continuous Control of An Intelligent Upper Limbneuro-prosthesis for Reach and Grasp Motions using Biological Signals
J. Huang, G. Li, H. Su* ., and Z. Li
IEEE Transactions on Systems, Man and Cybernetics: Systems. 2021.

Novel Adaptive Sensor Fusion Methodology for Hand Pose Estimation with Multi-leap Motion
S. Ertug Ovur, H. Su* ., W. Qi, G. Ferrigno, and E. De Momi
IEEE Transactions on Instrumentation and Measurement. 2021.

Towards Teaching by Demonstration for Robot-assisted Minimally Invasive Surgery
H. Su., A. Mariani, S. E. Ovur, A. Menciassi, G. Ferrigno, and E. De Momi
IEEE Transactions on Automation Science and Engineering. 2021.

An Incremental Learning Framework for Human-like Redundancy Optimization of Anthropomorphic Manipulators
H. Su., W. Qi, Y. Hu, H. R. Karimi, G. Ferrigno, and E. De Momi.
IEEE Transactions on Industrial Informatics. 2021.

Nonlinear Model Predictive Control for Mobile Medical Robot using Neural Optimization
Y. Hu, H. Su* ., H. R. Karimi, A. Knoll, G. Ferrigno, and E. De Momi
IEEE Transactions on Industrial Electronics. 2021.

Improved Recurrent Neural Network-based Manipulator Control with Remote Center of Motion Constraints: Experimental results
H. Su ., Y. Hu, H. R. Karimi, A. Knoll, G. Ferrigno, and E. De Momi
Neural Networks. 2020.

Whole Body Control of An Autonomous Mobile Manipulator using Series Elastic Actuators
Y. Liu, Z. Li, H. Su ., and C.-y. Su
IEEE/ASME Transactions on Mechatronics. 2021.

Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping
H. Gao, J. Zhu, X. Li, Y. Kang, J. Li, and H. Su* .
IEEE/ASME Transactions on Mechatronics. 2021.

Deep Neural Network Approach in Robot Tool Dynamics Identification for Bilateral Teleoperation
H. Su ., W. Qi, C. Yang, J. Sandoval, G. Ferrigno, and E. De Momi
IEEE Robotics and Automation Letters. 2020.

A Smartphone-based Adaptive Recognition and Real-time Monitoring System for Human Activities
W. Qi, H. Su ., and A. Aliverti
IEEE Transactions on Human Machine System. 2020.

Depth Vision Guided Hand Gesture Recognition using Electromyographic Signals
H. Su., S. E. Ovur, X. Zhou, W. Qi, G. Ferrigno, and E. De Momi
Advanced Robotics. 2020.

Experimental Validation of Manipulability Optimization Control of a 7-dof Serial Manipulator for Robotassisted Surgery
H. Su., A. Danioni, R. Mihai Mira, M. Ungari, X. Zhou, J. Li, Y. Hu, G. Ferrigno, and E. De Momi.
The International Journal of Medical Robotics and Computer Assisted Surgery. 2020.

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries
H. Su., Y. Schmirander, S. E. Valderrama, J. Pinedo, X. Zhou, J. Li, L. Zhang, Y. Hu, G. Ferrigno, and E. De Momi
Sensors and Materials. 2020.

Improved Human-robot Collaborative Control of Redundant Robot for Teleoperated Minimally Invasive Surgery
H. Su., C. Yang, G. Ferrigno, and E. De Momi
IEEE Robotics and Automation Letters. 2019.

Collaborative Framework for Robot-assisted Minimally Invasive Surgery Using A 7-dof Anthropomorphic Robot
J. Sandoval, H. Su., P. Vieyres, G. Poisson, G. Ferrigno, and E. De Momi
Robotics and Autonomous Systems. 2018.

Deep Neural Network Approach in Human-like Redundancy Optimization for Anthropomorphic Manipulators
H. Su., W. Qi, C. Yang, A. Aliverti, G. Ferrigno, and E. De Momi.
IEEE Access. 2019.

Neural Network Enhanced Robot Tool Identification and Calibration for Bilateral Teleoperation
H. Su., C. Yang, H. Mdeihly, A. Rizzo, G. Ferrigno, and E. De Momi
IEEE Access. 2019.

Towards Model-free Tool Dynamic Identification and Calibration using Multi-layer Neural Network
H. Su., W. Qi, Y. Hu, J. Sandoval, L. Zhang, Y. Schmirander, G. Chen, A. Aliverti, A. Knoll, G. Ferrigno et al.
Sensors. 2019.

Human-in-the-loop Control Strategy of Unilateral Exoskeleton Robots for Gait Rehabilitation
D. Wei, Z. Li, Q. Wei,H. Su., B. Song, W. He, and J. Li.
IEEE Transactions on Cognitive and Developmental Systems. 2019.

Online Human-like Redundancy Optimization for Tele-operated Anthropomorphic Manipulators
H. Su., N. Enayati, L. Vantadori, A. Spinoglio, G. Ferrigno, and E. De Momi
International Journal of Advanced Robotic Systems. 2018.

Safety-enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery using A 7-dof Torque-Controlled Robot
H. Su., J. Sandoval, P. Vieyres, G. Poisson, G. Ferrigno, and E. De Momi
International Journal of Control, Automation and Systems. 2018.

Sensor Fusion-based Anthropomorphic Control of Under-actuated Bionic Hand in Dynamic Environment
H. Su., J. Zhang, J. Fu, S. E. Ovur, W. Qi, G. Li, Y. Hu, and Z. Li
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.

Improving Motion Planning for Surgical Robot with Active Constraints
H. Su., Y. Hu, J. Li, J. Guo, Y. Liu, G. Ferrigno, and E. De Momi
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems ((IROS). 2020.

Robot-assisted Minimally Invasive Surgery with Improved Learning Optimization
Y. Hu, H. Su., G. Chen, G. Ferrigno, E. De Momi, and A. Knoll
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2020.

Reinforcement Learning Based Manipulation Skill Transferring for Robot-assisted Minimally Invasive Surgery
H. Su., Y. Hu, Z. Li, A. Knoll, G. Ferrigno, and E. De Momi
2020 IEEE International Conference on Robotics and Automation (ICRA). 2020.

Bilateral Teleoperation Control of A Redundant Manipulator with An Rcm Kinematic Constraint
H. Su., Y. Schmirander, Z. Li, X. Zhou, J. Li, G. Ferrigno, and E. De Momi
2020 IEEE International Conference on Robotics and Automation (ICRA). 2020.

Internet of Things(iot)-based Collaborative Control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries
H. Su., S. Ertug Ovur, Z. Li, Y. Hu, A. Knoll, J. Li, G. Ferrigno, and E. De Momi
2020 IEEE International Conference on Robotics and Automation (ICRA). 2020.

Deep Neural Network Approach in Robot Tool Dynamics Identification for Bilateral Teleoperation
H. Su., W. Qi, C. Yang, J. Sandoval, G. Ferrigno, and E. De Momi
2020 IEEE International Conference on Robotics and Automation (ICRA with RAL option). 2020.

Machine Learning Driven Human Skill Transferring for Control of Anthropomorphic Manipulators
H. Su., W. Qi, H. Gao, Y. Hu, Y. Shi, G. Ferrigno, and E. De Momi
2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM). 2020.

Human Activity Recognition Enhanced Robot-assisted Minimally Invasive Surgery
H. Su., W. Qi, C. Yang, J. Li, X. Zhou, G. Ferrigno, E. De Momi, and A. Knoll
2020 International Conference on Robotics in Alpe-Adria Danube Region. 2020.

Hierarchical Task Impedance Control of a Serial Manipulator for Minimally Invasive Surgery
H. Su., C. Yang, J. Li, Y. Jiang, G. Ferrigno, and E. De Momi
2020 IEEE International Conference on Human-Machine Systems (ICHMS). 2020.

Depth Vision Guided Human Activity Recognition in Surgical Procedure Using Wearable Multisensor
W. Qi, H. Su., F. Chen, X. Zhou, Y. Shi, G. Ferrigno, and E. De Momi
2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM). 2020.

Improved Human-robot Collaborative Control of Redundant Robot for Teleoperated Minimally Invasive Surgery
H. Su., C. Yang, G. Ferrigno, and E. De Momi
2019 IEEE International Conference on Robotics and Automation (ICRA with RAL option). 2019.

Manipulability Optimization Control of A Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery
H. Su., S. Li, J. Manivannan, L. Bascetta, G. Ferrigno, and E. De Momi
2019 IEEE International Conference on Robotics and Automation (ICRA). 2019.

Adaptive Decoupling Control of A Serial Redundant Robot for Teleoperated Minimally Invasive Surgery
H. Su., G. Ferrigno, and E. De Momi
IEEE Robotics and Automation Society. 2018.

Safety-enhanced Human-robot Interaction Control of Redundant Robot for Teleoperated Minimally Invasive Surgery
H. Su., J. Sandoval, M. Makhdoomi, G. Ferrigno, and E. De Momi
IEEE International Conference on Robotics and Automation (ICRA). 2018.

Adaptive Fuzzy Control of Operation Space Constrained Exoskeletons under Unmodelled Dynamics
H. Su., H. Zhang, Z. Li, and C.-Y. Su
Intelligent Control and Automation (WCICA). 2014.