团队负责人
石萍
团队成员
胡冰山、孙太任、王多琎、杨建涛、贺晨、杜佳昊
团队简介
团队核心成员包括教育部青年长江学者、上海科技启明星、上海浦江人才计划及上海扬帆人才计划入选者等多名国家级与省部级人才，现有教师及硕博研究生共计70余人。团队研究方向涵盖多模态智能感知与信息融合、人机协同智能控制与决策、医疗机器人系统设计与优化，致力于解决高端医疗装备自主化、老龄化社会康复需求升级、特种人员体能增强等关键问题。团队在多模融合智能控制技术、穿戴传感技术、康复机器人个性化适配、运动康复评估与治疗等领域形成鲜明的研究特色。
代表性成果
1.科研项目
[1]2026-2029年，国家自然科学基金-重点项目，基于云边虚实结合和多层次强化学习的护理机器人关键技术研究
[2]2025-2028年，国家自然科学基金-面上项目，融合多源跨域信息的上肢康复机器人演进按需辅助控制研究
[3]2021-2024年，国家自然科学基金-面上项目，面向多康复模式下人机协作的上肢康复机器人变阻抗控制研究
[4]2026-2029 年，国家自然科学基金-面上项目，面向人机自然交互的下肢康复外骨骼创成参数端到端优化与类脑学习控制研究
[5]2024-2027 年，国家自然科学基金-面上项目，基于全息映射镇痛模式的体表电调控机制研究
[6]2022-2024年，国家自然科学基金-青年基金项目,人机异构自顺应下肢康复外骨骼人机闭环感知重构的智能协调控制方法研究
[7]2023-2025年，国家X科委X工程，XXX平衡能力增强训练技术研究
[8]2020-2023年，上海市自然科学基金，上肢康复机器人柔顺变刚度关节优化设计及其自适应阻抗控制
[9]2025-2027年，上海市国内科技合作专项，帕金森患者冻结步态感知-振动触觉干预可穿戴康复设备研发与应用
[10]2023-2026年，国家重点研发计划课题，脑瘫儿童运动功能障碍与姿势异常外骨骼机器人干预技术
[11]2022-2025年，国家重点研发计划课题，二便意图检测与排便辅助装置研发
[12]2020-2023年，国家重点研发计划课题，长期卧床患者辅助的智能康复护理床及二便自动护理系统研发
[13]2019-2022年，国家重点研发计划课题，脊柱退行性疾病小型化智能中医治疗设备关键技术与产品研发
[14]2020-2023年，国家重点研发计划子课题，轮椅与助行器智能技术研发与系统集成
[15]2022-2025年，国家重点研发计划项目子课题，老年足部辅具的生物力学设计优化及制造系统研发
[16]2020-2023年，上海市科委“科技创新行动计划”，脊柱侧弯智能矫正外骨骼系统的动力学与控制方法研究
[17]2019-2022年，上海市科委“科技创新行动计划”，穿戴式下肢外骨骼康复机器人的安全要求
[18]2020-2023年，上海市科委“科技创新行动计划”，穿戴式外骨骼腰椎治疗仪关键技术及实验样机研究
[19]2019-2022年，上海市科委“科技创新行动计划”，新型穿戴式生物反馈镇痛样机研制
[20]863-X06重大专项课题: XXX装置技术研究
2.发明专利
[1]上肢外骨骼机器人，发明授权，ZL202410182978.8
[2]防反弹控制方法、装置、电子设备和存储介质，发明授权，ZL202311813575.0.
[3]一种六维力传感器，发明授权，ZL202210342600.0
[4]外骨骼机器人，发明授权，ZL202311737138.5
[5]3D打印多自由度假手五指连动机构，发明授权，ZL201710500459.1
[6]非侵入式人体软组织损伤风险监测系统，发明授权，ZL202110337794.0
[7]平足症筛查鞋垫以及平足症筛查步态分析系统，发明授权，ZL202110337850.0
[8]辅助取食器以及辅助取食装置，发明授权，ZL201910328275.0
[9]一种串联弹性髋关节助行器, 发明授权，ZL201910065043.0
[10]一种半被动轻量型下肢外骨骼，发明授权，ZL201711174133.0
[11]一种紧凑型柔性两自由度机器人腕关节，发明授权，ZL202310716730.0
[12]一种六自由度五指机械手发明授权，ZL2019110082532
[13]一种模块化多自由度上肢假肢，发明授权，ZL202010444201.6.
[14]一种勺筷一体化的助餐机器人末端执行器及机器人，发明授权，ZL202310565145.5
[15]一种智能护理床垫及报警控制方法，发明授权，ZL202110235039.1
[16]一种高度可调的护理床，发明授权，ZL202110264374.4
[17]一种基于圆柱坐标系的机械臂及一种助餐机器人，发明授权，ZL202311398444.0
[18]一种家用便携型肘关节功能辅助器具及控制方法，发明授权，ZL 202110908302.9
[19]一种腕驱动及具有无级自锁功能的自适应力分配半掌假手，发明授权，ZL 2022 1 1512223.7
[20]一种腹部按摩机器人，发明授权，ZL202411820998X
[21]一种喂食机器人，发明授权，ZL202010642517.6
[22]一种新型可穿戴式腰椎牵引装置，发明授权，ZL202011089037.8
[23]多触发方式的智能电刺激手部训练器及方法，发明授权，ZL201910752835.5
[24]一种穿戴式中医腕踝针智能电刺激仪，发明授权，ZL201610928117.5
[25]一种驱动力方向可调节的颈椎牵引外骨骼，发明授权，ZL202111479349.4
[26]一种仿生手腕部装置，发明授权，ZL202011377775.2
[27]一种用于上肢康复的三自由度腕关节康复训练机构，发明授权，ZL202010088383.8
[28]一种实现假手掌部四指内收外展的联动机构，发明授权，ZL202010286550.X
[29]便携式轮椅助力装置，发明授权，ZL201810283132.8
[30]一种多自由度穿戴式腰椎牵引装置，发明授权，ZL202011089032.5
3.科技成果奖
[2]2025, 江西省科学技术进步一等奖
[3]2023, 中国康复医学会科学技术奖二等奖
[4]2021, 上海中西医结合科学技术二等奖
4.专著/学术论文
方向一：医疗/康复机器人智能控制理论与方法
[1]Bidirectional mamba-based continuous prediction of human motion intention using multisource information fusion. IEEE Transactions on Automation Science and Engineering, 2026, 23, 3353-3364.
[2]Design of a Variable-Stiffness Elbow Rehabilitation Robot and Its Control: A Variable Impedance Strategy Based on LSTM Elbow Torque Prediction. IEEE Transactions on Medical Robotics and Bionics, 2026, 8(1).
[3]Optimizing the stiffness of variable-stiffness exoskeleton based on a data-driven human hip joint power prediction model. Biomedical Signal Processing and Control, 2026, 112, 108612.
[4]Multi-source information fusion for continuous prediction of joint angles using TCN combined with temporal pattern attention mechanism. IEEE Transactions on Instrumentation and Measurement, 2025, 74.
[5]Repetitive impedance learning-based physically human-robot interactive control. IEEE Transactions on Neural Networks and Learning Systems, 2024, 35(6),7339-7350.
[6]Effects of wearable lumbar support exoskeleton on motion of torso and dynamic plantar pressure in single-shoulder load. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2024, 32, 2005-2015.
[7]Spatial repetitive impedance learning control for robot-assisted rehabilitation. IEEE/ASME Transactions on Mechatronics, 2023, 28(3): 1280-1290.
[8]Spatial hybrid adaptive impedance learning control for robots in repetitive interactive tasks. ISA Transactions, 2023, 138: 151-159.
[9]Disturbance Rejection Speed Control Based on Linear Extended State Observer for Isokinetic Muscle Strength Training System. IEEE Transactions on Automation Science and Engineering, 2023, 20(3): 1962-1971.
[10]Stiffness optimal modulation of a variable stiffness energy storage hip exoskeleton and experiments on its assistance effect. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2023, 31, 1045-1055.
[11]Glenohumeral joint trajectory tracking for improving the shoulder compliance of the upper limb rehabilitation robot. Medical Engineering & Physics, 2023, 113, 103961.
[12]Wearable Exoskeleton System for Energy Harvesting and Angle Sensing Based on a Piezoelectric Cantilever Generator Array. ACS Applied Materials and Interfaces, 2022, 14(32): 36622-36632.
[13]Stability-guaranteed variable impedance control of robots based on approximate dynamic inversion. IEEE Transactions on Systems, Man and Cybernetics: Systems, 2021.
[14]Design and preliminary validation of a lightweight powered exoskeleton during level walking for persons with paraplegia. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021, 29: 2112-2123.
[15]A gait simulation and evaluation system for hip disarticulation prostheses. IEEE Transactions on Automation Science and Engineering, 2021, 18(2): 448-457.
[16]Design and development of a portable exoskeleton for hand rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2018, 26(12): 2376-2386.
方向二：智能感知与神经调控
[17]Effect of Parallel Cognitive-Motor Training Tasks on Hemodynamic Responses in Robot-Assisted Rehabilitation. Brain Connectivity, 2025, 15(2): 98-111.（封面文章）
[18]An Enhanced ResNet Deep Learning Method for Multimodal Signal-Based Locomotion Intention Recognition. Biomedical Signal Processing and Control, 2025, 101: 107254.
[19]Cortical functional connectivity and topology based on complex network graph theory analysis during acute pain stimuli. Neurophotonics, 2025, 12(2), 025010.
[20]Effect of transcutaneous electrical nerve stimulation based on wrist-ankle acupuncture theory for pain relief during non-anesthetic colonoscopy: a randomized controlled trial. Endoscopy, 2024, 57(2), 158-165.
[21]The identification of interacting brain networks during robot-assisted training with multimodal stimulation. Journal of Neural Engineering, 2023, 20(1): 016009.
[22]Analgesic electrical stimulation combined with wrist-ankle acupuncture reduces the cortical response to pain in patients with myofasciitis: a randomized clinical trial. Pain Medicine, 2023, 24(3), 351-361.
[23]Improving the robustness and adaptability of sEMG-based pattern recognition using deep domain adaptation. IEEE Journal of Biomedical and Health Informatics, 2022, 26(11), 5450-5460.
[24]Pain modulation induced by electronic wrist-ankle acupuncture: a functional near-infrared spectroscopy study. Pain Practice, 2022, 22(2), 182-190.
[25]The effect of passive lower limb training on heart rate asymmetry. Physiological Measurement, 2022, 43(1), 015003.
[26]Design and implementation of an intelligent analgesic bracelet based on wrist-ankle acupuncture. IEEE Transactions on Biomedical Circuits and Systems, 2020, 14(6), 1431-1440.
[27]Interface pressure reduction effects of wheelchair cushions in individuals with spinal cord injury: a rapid review. Disability and Rehabilitation, 2020, (1): 1-8.
方向三：人机交互可靠性与安全评估
[28]Vorgehensmodell fuer die systemergonomische Gestaltung von med-technischen Produkten in der haeuslichen Rehabilitation. Shaker Verlag, Aachen, 2014.（专著）
[29]A multi-task framework based on SDA-LSTM fusion network for gait phase recognition and gait cycle percentage progression prediction by IMU for forward walking. Biomimetic Intelligence and Robotics, 2026, 100292.
[30]Hierarchical control for a split nursing bed docking system using target-free localization and a stanley controller. IEEE Access, 2025, 13: 212877-212886.
[31]Investigating the course and predictors of desire to void based on heart rate variability. Medical Engineering and Physics, 2025, 136, 104286.
[32]A hybrid HEART framework integrating EPC identification model and extended Z-polar coordinate for HRA: An application of robot-assisted rehabilitation. Journal of Industrial Information Integration, 2025, 48: 100981.
[33]Extending a human error identification and assessment method considering the uncertainty information for human reliability analysis of robot-assisted rehabilitation. Engineering Applications of Artificial Intelligence, 2024, 133(part B): 108091.
[34]A decision-making system based on case-based reasoning for predicting stroke rehabilitation demands in heterogeneous information environment. Applied Soft Computing, 2024, 154: 111358.
[35]Risk assessment based on FMEA combining DEA and cloud model: A case application in robot-assisted rehabilitation. Expert Systems with Applications, 2022, 214: 119119.
