杨大鹏 - 哈尔滨工业大学

个人简介

杨大鹏，男，汉族，机电工程学院研究员，博士生导师，机器人技术与系统国家重点实验室固定成员，人工智能研究院成员，脑科学与脑疾病实验室成员。美国约翰斯.霍普金斯大学(DARPA“革命假肢”项目主体单位)访问学者，IEEE高级会员。主要从事灵巧假肢系统、运动神经康复、自主穿刺手术等方面研究工作。主持973计划子课题1项，国家自然科学基金青年项目1项、面上项目2项、国家重点实验室自主课题2项，作为骨干参与国家自然科学基金重点项目、国家重点研发计划项目等。在NSR、TIE、RA-L等国际期刊发表SCI论文40余篇（Google引用1500余次，h-index 19，i-10 index 33），出版学术专著1部，授权国家发明专利20余项。获得黑龙江科技发明二等奖1项，英国 Emeral 出版集团杰出论文奖，ICIRA国际会议最佳论文奖等。教育经历 2006年9月-2011年4月哈尔滨工业大学机电工程学院, 机械电子工程专业工学博士 2004年9月-2006年7月哈尔滨工业大学机电工程学院机械电子工程专业工学硕士 2000年9月-2004年7月哈尔滨工业大学机电工程学院机械设计制造及其自动化专业工学学士工作经历 2022年12月-至今哈尔滨工业大学机电工程学院研究员 2018年04月-至今哈尔滨工业大学机电工程学院博士生导师 2016年01月-2017年01月美国Johns Hopkins University 生物医学工程系访问学者 2015年12月-2022年12月哈尔滨工业大学机电工程学院副研究员 2012年11月-2018年03月哈尔滨工业大学航空宇航科学与技术流动站博士后 2011年12月-2015年12月哈尔滨工业大学机电工程学院讲师

研究领域

Dexterous Prosthesis (灵巧假肢) 主要包括：自适应欠驱动机构，柔性仿生机构，感知/驱动一体化设计，自适应变阻抗控制等 Biomedical Signal Processing & Control (生物电信号处理与控制) 主要包括：运动意图识别，连续运动解码、多维力回归算法、肌电信号分析处理、电触觉感知反馈等 Perception / Manipulation / Grasping (感知/操作/抓取) 主要包括：力/位/触感知，形/力封闭算法，抓取分类，多指操控方法等 AI & Robotics (机器智能) 主要包括：物品检测/实例分割，眼动追踪交互，人机共享控制，虚拟现实/增强现实技术等 Soft Exoskeleton (软体外骨骼) 主要包括：软体外骨骼机构设计，运动意图提取，人机协同控制，主被动康复策略等 Surgery Automation (手术自动化) 主要包括：自主超声扫描，乳腺病灶识别，人体软组织建模，机器人护士，自动化手术工具等

近期论文

查看导师新发文章（温馨提示：请注意重名现象，建议点开原文通过作者单位确认）

Classification of Multiple Finger Motions During Dynamic Upper Limb Movements Robust EMG pattern recognition in the presence of confounding factors: features, classifiers and adaptive learning An EMG-based Deep Learning Approach for Multi-DOF Wrist Movement Decoding CSwin-PNet: A CNN-Swin Transformer combined pyramid network for breast lesion segmentation in ultrasound images i-GSI: A Novel Grasp Switching Interface Based on Eye-Tracking and Augmented Reality for Multi-Grasp Prosthetic Hands Viia-hand: a Reach-and-grasp Restoration System Integrating Voice interaction, Computer vision and Auditory feedback for Blind Amputees Wrist autonomy based on upper-limb synergy: a pilot study A Large-Scale Inflatable Robotic Arm Toward Inspecting Sensitive Environments: Design and Performance Evaluation Virtual‐force‐guided intraoperative ultrasound scanning with online lesion location prediction: A phantom study Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology A simulation framework for ultrasound-guided minimally invasive robotic breast surgery The Occluded Prosthetic Hand can be Perceived based on Augmented Reality Technology Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology Solving the Real-Time Motion Planning Problem for Non-Holonomic Robots With Collision Avoidance in Dynamic Scenes Design of a Ring-Type Bearingless Torque Sensor With Low Crosstalk Error Adaptive reactionless control of free-floating space manipulators for detumbling a target with dynamic uncertainties Physical-Parameter-Free Learning of Inverse Dynamics for Multi-DOF Industrial Robots via Sparsity and Feature Learning China's space robotics for on-orbit servicing: the state of the art i-MYO: A Hybrid Prosthetic Hand Control System based on Eye-tracking, Augmented Reality and Myoelectric signal i-GSI: A Fast and Reliable Grasp-type Switching Interface based on Augmented Reality and Eye-tracking A fast robotic arm gravity compensation updating approach for industrial application using sparse selection and reconstruction Estimation of gravity parameters for multi-DOF serial manipulator arms using model learning with sparsity inducing norms A Model-Free Synchronous Control of Humanoid Robot Finger Electrode Design for Electrotactile Feedback With Reduced Interference to Myoelectric Signal A Multi-Threshold-Based Force Regulation Policy for Prosthetic Hand Preventing Slippage Design of Multi-channel Electrical Stimulator Integrated with Online Impedance Measurement Human-machine shared control: New avenue to dexterous prosthetic hand manipulation Computer Vision-Based Grasp Pattern Recognition With Application to Myoelectric Control of Dexterous Hand Prosthesis Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism Simultaneous estimation of 2-DOF wrist movements based on constrained non-negative matrix factorization and Hadamard product A Novel Method of Combining Computer Vision, Eye-Tracking, EMG, and IMU to Control Dexterous Prosthetic Hand 2-DOF Simultaneous Control of Dexterous Prosthesis based on Constrained NMF and Hadamard Product A Novel Grasping Control Method for Dexterous Prosthesis based on Eye-tracking * A Hybrid Mapping Method with Position and Stiffness for Manipulator Teleoperation Design and Preliminary Ground Experiment for Robotic Assembly of a Modular Space Telescope Decoding Simultaneous Multi-DOF Wrist Movements From Raw EMG Signals Using a Convolutional Neural Network EMG Pattern Recognition Using Convolutional Neural Network with Different Scale Signal/Spectra Input An adaptive socket with auto-adjusting air bladders for interfacing transhumeral prosthesis: A pilot study Improving the functionality, robustness, and adaptability of myoelectric control for dexterous motion restoration EMG dataset augmentation approaches for improving the multi-DOF wrist movement regression accuracy and robustness A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation A 3-DOF hemi-constrained wrist motion/force detection device for deploying simultaneous myoelectric control A theory for the risk bound of myoelectric control with adaptive learning A synthetic framework for evaluating and designing an anthropomorphic prosthetic hand Optimal Design of Electrical Stimulation Electrode for Electrotactile Feedback of Prosthetic Hand Robust EMG Pattern Recognition with Electrode Donning/Doffing and Multiple Confounding Factors Towards single trial decoding of cortical-muscular activities A Novel Unsupervised Adaptive Learning Method for Long-Term Electromyography (EMG) Pattern Recognition A novel actuation configuration of robotic hand and the mechanical implementation via postural synergies Accurate EMG onset detection in pathological, weak and noisy myoelectric signals Dynamic training protocol improves the robustness of PR-based myoelectric control An actuation configuration of inter-module coordination and the evaluation for the mechanical implementation to a prosthetic hand Analysis of Hand and Wrist Postural Synergies in Tolerance Grasping of Various Objects Analysis on the joint independence of hand and wrist On the development of intrinsically-actuated, multisensory dexterous robotic hands EMG Onset Detection Based on Teager–Kaiser Energy Operator and Morphological Close Operation Analysis of Human Hand Posture Reconstruction Under Constraint and Non-constraint Wrist Position Three-Dimensional Simultaneous EMG Control Based on Multi-layer Support Vector Regression with Interactive Structure A synthetic framework for evaluating the anthropomorphic characteristics of prosthetic hands Noise cancellation for electrotactile sensory feedback of myoelectric forearm prostheses Development of a multi-DOF prosthetic hand with intrinsic actuation, intuitive control and sensory feedback Dexterous Motion Recognition for Myoelectric Control of Multi-functional Transradial Prostheses Experimental Study of an EMG-Controlled 5-DOF Anthropomorphic Prosthetic Hand for Motion Restoration Adaptive Learning of Multi-finger Motion Recognition based on Support Vector Machine A novel EMG controller for anthropomorphic prosthetic hands based on state switching mechanism A Novel EMG Control Method for Multi-DOF Prosthetic Hands with Electrical Stimulation Feedback Surface emg for multi-pattern recognition with sensory feedback controller of hand prosthesis system An anthropomorphic controlled hand prosthesis system Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map Dynamic hand motion recognition based on transient and steady-state EMG signals A Bio-Mechanical Designed Prosthetic Hand with Multi-control Strategies Recognition of Hand Grasp Preshaping Patterns Applied to Prosthetic Hand Electromyography Control Switching-State Phase Shift Method for Three-Phase-Current Reconstruction With a Single DC-Link Current Sensor Progress in the biomechatronic design and control of a hand prosthesis Development of an Anthropomorphic Prosthetic Hand for Man-Machine Interaction Design and control of a coupling mechanism-based prosthetic hand Biomechatronic approach to a multi-fingered hand prosthesis Observer-Based Dynamic Control of an Underactuated Hand EMG Pattern Recognition and Grasping Force Estimation: Improvement to the Myocontrol of Multi-DOF Prosthetic Hands Estimation of Hand Grasp Force based on Forearm Surface EMG A novel phase current reconstruction method using a single DC-link current sensor An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

学术兼职

Associate Editor, 《IEEE Robotics and Automation Letters》(2020/06/18) Guest Editor,《Biomimetics》(2022/12-2023/04) IEEE Senior Member (M' 14, SM'2021/08/17), IEEE Engineering in Medicine and Biology Society, IEEE Robotics and Automation Society Reviewer China NSFC Swiss National Science Foundation Reviewer National Science Review IEEE Transactions on Robotics IEEE Transactions on Cybernetics IEEE Robotics and Automation Letters (RA-L) IEEE Transactions on Biomedical Engineering IEEE Transactions on Industrial Electronics IEEE Transactions on Neural Systems & Rehabilitation Engineering IEEE Robotics & Automation Magazine IEEE Transactions on Systems, Man, and Cybernetics: Systems Journal of NeuroEngineering and Rehabilitation Frontiers in Bioengineering and Biotechnology Biomedical Signal Processing and Control Medical & Biological Engineering & Computing PLoS One Industrial Robot Computers in Biology and Medicine Journal of Bionic Engineering Computer Methods and Programs in Biomedicine ICRA IROS AIM BIOROB ROBIO