Papers
49
Total Citations
467
H-Index
12
About
Lei Sun is a robotics and control systems researcher whose work spans flexible joint robots, series elastic actuators (SEAs), rehabilitation robotics, and advanced motion control. His most influential contribution, "Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression" (2017, 73 citations), introduced a nonlinear state feedback controller that elegantly addresses overshoots and residual vibration in flexible joint systems — a persistent challenge in precision robotics. Complementing this, his series of studies on SEA torque control, accumulating nearly 60 citations across multiple papers, has advanced force/torque control methodologies critical for assistive and legged robots. Sun has also made meaningful strides in rehabilitation robotics, developing optimized parallel mechanisms for hip rehabilitation and parametric 3D gait generation to better tailor robot-assisted therapy to individual patients. His breadth extends further into kinematic-free orientation control using Lie group theory, reinforcement-learning-based grinding force control, and multi-robot teleoperation. With over 260 total citations, his research consistently bridges rigorous theoretical control design with practical robotic applications, making his work particularly valuable for researchers working at the intersection of compliant actuation, human-robot interaction, and intelligent motion planning.
Research Focus
Key Achievements
Top Papers
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- 10Competitive Multi-robot Teleoperation16 citations · 2006