Papers
2
Total Citations
14
H-Index
2
About
Yaohui Sun is a rising force in rehabilitation robotics, specializing in the design and control of lower-limb exoskeleton systems. His research centers on two critical challenges: achieving high-performance human-robot interaction (HRI) and developing sensorless control strategies for practical, cost-effective assistive devices. Sun’s most cited work, "Negative-Stiffness Structure Vibration-Isolation Design and Impedance Control for a Lower Limb Exoskeleton Robot" (2023, 11 citations), introduces an innovative approach that combines a negative-stiffness vibration isolator with series elastic actuator (SEA) impedance control. This design significantly reduces low-frequency disturbances, enhancing both comfort and stability during gait assistance—a key advancement for real-world exoskeleton deployment. In his complementary work, "Force Estimation-Based Adaptive Impedance Control for Lower-Limb Exoskeleton Robots With Disturbance" (2023, 3 citations), Sun tackles the practical constraint of missing force sensors. He proposes a robust adaptive control framework that estimates interaction forces in real time, enabling smooth, compliant assistance without additional hardware. These contributions demonstrate Sun’s ability to bridge mechanical innovation with intelligent control, paving the way for more accessible and effective rehabilitation exoskeletons. His work is particularly relevant for researchers exploring sensor-reduced control and vibration mitigation in wearable robotics.
Research Focus
Key Achievements
Top Papers
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