专利：

1. H. Yu, Y. Peng, Title: A Piezo-Driven Flapping Wing Mechanism For Micro Air Vehicles, SG Non-Provisional Application No. 10201600132W, filed on 08 Jan 2016, ILO Ref: 15297N-SG/PR
2. H. Yu, Y. Peng, A Linear Actuator For Precision Positioning Of Dual Objects, SG Provisional Application No: 10201505537P, filed on 15 July 2015, ILO Ref: 15160N-SG/PRV
3. Li, Z., Yu, H., Ren, H., Wire-Driven Flexible Manipulator with Controllable Bending Section, US Provisional Application No.: 62/007,022. Filed on 4 June 2015. ILO Ref: 14266N-US/PRV2;
4. Yu, H., et al. Gait Rehabilitation Apparatus, PCT Application No.: PCT/SG2015/000071, 11 March 2015. ILO Ref: 14173N-PCT
5. Yu, H., et al. Retro-Fit Mobility Unit, International Patent Application No. PCT/SG2014/000519, ILO Ref: 13396N-PCT; filed on 5 November 2014
6. Yu, H., Dubowsky, S., “Omni-directional Vehicle with Offset Wheel Pairs”, United States Patent No. 6,540,039, April 1, 2003

论文：

1. H. Yu, S. Huang, G. Chen, Y. Pan and Z. Guo, “Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators”. IEEE Transactions on Robotics (TRO), vol. 31, no. 5, pp. 1089-1100, Oct. 2015. DOI: 10.1109/TRO.2015.2457314.
2. X. Li, Y. Pan, G. Chen and H. Yu, “Multi-modal control scheme for rehabilitation robotic exoskeletons”. The International Journal of Robotics Research (IJRR). 36(5-7): 795-777, 2017. https://doi.org/10.1177/0278364917691111.
3. E. Sariyildiz, G. Chen and H. Yu, “A Unified Robust Motion Controller Design for Series Elastic Actuators”. IEEE/ASME Transactions on Mechatronics (TMECH), vol. 22, no. 5, pp. 2229-2240, Oct. 2017. DOI: 10.1109/TMECH.2017.2719682.
4. E. Sariyildiz, G. Chen and H. Yu, “An Acceleration-Based Robust Motion Controller Design for a Novel Series Elastic Actuator”. IEEE Transactions on Industrial Electronics (TIE), vol. 63, no. 3, pp. 1900-1910, March 2016. DOI: 10.1109/TIE.2015.2512228.
5. K. Guo, Y. Pan and H. Yu, “Composite Learning Robot Control With Friction Compensation: A Neural Network-Based Approach,” in IEEE Transactions on Industrial Electronics, vol. 66, no. 10, pp. 7841-7851, Oct. 2019, doi: 10.1109/TIE.2018.2886763.
6. Y. Pan and H. Yu, “Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control”. IEEE Transactions on Neural Networks and Learning Systems (TNNLS), vol. 28, no. 6, pp. 1481-1487, June 2017. DOI: 10.1109/TNNLS.2016.2527501.
7. Y. Pan and H. Yu, “Composite learning robot control with guaranteed parameter convergence”. Automatica, 89 (2018): 398-406. doi.org/10.1016/j.automatica.2017.11.032.
8. Y. Zhang, Y. Peng, Z. Sun and H. Yu, “A Novel Stick-Slip Piezoelectric Actuator Based on a Triangular Compliant Driving Mechanism”. IEEE Transactions on Industrial Electronics (TIE), 2018. DOI: 10.1109/TIE.2018.2868274
9. D. Li, H. Yu, K. P. Tee, Y. Wu, S. S. Ge and T. H. Lee, “On Time-Synchronized Stability and Control,” in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 4, pp. 2450-2463, April 2022, doi: 10.1109/TSMC.2021.3050183.
10. D. Li, H. Yu, K. P. Tee, Y. Wu, S. S. Ge and T. H. Lee, “On Time-Synchronized Stability and Control,” in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 4, pp. 2450-2463, April 2022, doi: 10.1109/TSMC.2021.3050183.

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