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Human-Inspired Robotics Lab

Zhi (Jane) Li (zli11@wpi.edu)

Jun 28th, 2017

Publications

Journal & Book Chapter

  1. Twardowski, Serge Roy, Zhi Li, Paola Contessa, Gianluca De Luca, Joshua Kline, “Motor unit drive: a neural interface for real-time upper limb prosthetic control”, In submission to Journal of Neural Engineering [PDF]
  2. Kimpara, Hideyuki, Mbanisi, Kenechukwu, Fu, Jie, Li, Zhi, Prokhorov, Danil, and Gennert, Michael, “Human Model-based Active Driving System in Vehicular Dynamic Simulation”, in submission to IEEE Intelligent Transportation Systems Transactions
  3. Zhi Li, Dejan Milutinovic and Jacob Rosen, “From Reaching to Reach-to-grasp: the Arm Posture Difference and its Implications on Human Motion Control Strategy”. Experimental Brain Research, 235(5), pp.1627-1642, 2017. PDF
  4. Jay Ryan U. Roldan, Dejan Milutinović, Zhi Li and Jacob Rosen, A Low-Dimensional Dissimilarity Analysis of Unilateral and Bilateral Stroke-Impacted Hand Trajectories, ASME Journal of dynamic systems, measurement, and control, 138(11), 2016. PDF
  5. Zhi Li, Dejan Milutinović, and Jacob Rosen. “Design of a Multi-Arm Surgical Robotic System for Dexterous Manipulation.” Journal of Mechanisms and Robotics 8(6),Oct. 2016. PDF
  6. Zhi Li, Dejan Milutinovic and Jacob Rosen, “Spatial Map of Synthesized Criteria for the Redundancy Resolution of Human Arm Movements”. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 23(6), pp. 1020 - 1030, Nov. 2015. PDF
  7. Jacob Rosen, Dejan Milutinovic, Levi M. Miller, Matt Simkins, Hyunchul Kim, and Zhi Li, “Unilateral and Bilateral Rehabilitation of the Upper Limb Following Stroke via an Exoskeleton”, Chapter 15, in Panagiotis Artemiadis (ed.), Neuro-robotics: From brain machine interfaces to rehabilitation robotics, pp 405-446, Springer, 2014. PDF
  8. Zhi Li, Hyunchul Kim, Dejan Milutinovic and Jacob Rosen, “Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements”, In Redundancy in Robot Manipulators and Multi-robot systems (pp. 201-240). Springer Berlin Heidelberg, 2013. PDF

Conference

  1. Heramb Nemlekar, Dharini Dutia, Zhi Li, “Heramb Nemlekar, Dharini Dutia and Zhi Li”, In submission to In 2019 IEEE International Conference on Robotics and Automation (ICRA). PDF
  2. Kenechukwu C. Mbanisi, Hideyuki Kimpara, Tess Meier, Michael Gennert and Zhi Li “Learning Coordinated Vehicle Maneuver Motion Primitives from Human Demonstration”, Accepted by 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). PDF
  3. Zhi Li, Peter Moran, Qingyuan Dong, Ryan Shaw, Kris Hauser, “Development of a Tele-Nursing Mobile Manipulator for Remote Care-giving in Quarantine Areas”, In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3581-3586. PDF
  4. Jianqiao Li, Zhi Li, Kris Hauser, “A Study of Bidirectionally Telepresent Tele-Action During Robot-Mediated Handover”, In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 2890-2896. PDF
  5. Zhi Li, Kris Hauser, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “A Novel Method for Quantifying Arm Motion Similarity”, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, August, 2015. PDF
  6. Zhi Li, Kierstin Gray, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “The Joint Coordination in Reach-to-grasp Movements”, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA, September, 2014. PDF
  7. Zhi Li, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “Task-relevance of Grasping-related Degrees of Freedom in Reach-to-grasp Movements”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, USA, September, 2014. PDF
  8. Zhi Li, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “The Rotational Axis Approach for Resolving the Kinematic Redundancy of the Human Arm in Reaching Movements”, 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), Osaka, Japan, July, 2013. PDF
  9. Hyunchul Kim, Zhi Li, Dejan Milutinovic, Jacob Rosen, “Resolving the Redundancy of a Seven DOF Wearable Robotic System Based on Kinematic and Dynamic Constraint”, 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, 2012. PDF
  10. Hyunchul Kim, Levi Makaio Miller, Zhi Li and Jacob Rosen, “Admittance Control of Seven-DOF Upper Limb Exoskeleton to Reduce Energy Exchange”, 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Saint Paul, MN on May 14-18, 2012. PDF
  11. Hyunchul Kim, Jay Ryan Roldan, Zhi Li, and Jacob Rosen, “Viscoelastic Model for Redundancy Resolution of the Human Arm via the Swivel Angle: Applications for Upper Limb Exoskeleton Control”, 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2012), San Diego CA, August, 2012. PDF
  12. Zhi Li, Daniel Glozman, Dejan Milutinovic, Jacob Rosen, “Maximizing Dexterous Workspace and Optimal Port Placement of a Multi-Arm Surgical Robot”, 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, 2011. PDF
  13. Zhi Li and Daniela Constantinescu, “Networked Haptic Cooperation Using Remote Dynamic Proxies”. The Second International Conferences on Advances in Computer-Human Interactions (ACHI 2009), Cancun, Mexico, February 1-6 2009. PDF
  14. Zhi Li and Daniela Constantinescu, “Remote Dynamic Proxies for Wave-Based Peer-to-Peer Haptic Interaction”. The Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, USA, March 18-20 2009. PDF
  15. Zhi Li and Daniela Constantinescu, “Comparison of Power- and Wave-based Control of Remote Dynamic Proxies for Networked Haptic Cooperation”. The 2009 IEEE International Conference on Mechatronics and Automation (ICMA 2009), Jilin, China August 9-12, 2009. PDF
  16. Zhi Li, D. Constantinescu. “Networked Haptic Cooperation among Multiple Users via Virtual Object Coordination to Averaged Position of Peer Copies”. The International Workshop on Haptic Audio-Visual Environments and Games, Milano, Italy, November 2009. PDF

Workshop Papers

  1. Kenechukwu C. Mbanisi, Alexandra R. Valiton, Renee K. Dorer, and Zhi Li, “Assessment of Physical Fatigue in Robot Teleoperation during Complex Motion Coordination Tasks”, IROS 2018 Workshop on Robotic Co-worker 4.0, Madrid, Spain, October, 2018. PDF
  2. Kenechukwu C. Mbanisi, Tess B. Meier, Hideyuki Kimpara, Jie Fu, Michael A. Gennert, and Zhi Li, “Learning Movement Primitives for Driving Tasks from Human Demonstration”. 8th World Congress on Biomechanics (WCB 2018)
  3. JC Kline, MD Twardowski, SH Roy, Z Li, and G De Luca, “Real-time Measurements of Motor Unit Firings for Prosthetic Control”. 8th World Congress of Biomechanics (WCB 2018)
  4. Heramb Nemlekar, Dharini Dutia and Zhi Li, “Prompt Human to Robot Handovers by Estimation of Object Transfer Point based on Human Partner’s Motion”, IROS 2018 Workshop on Human-Robot Cooperation and Collaboration in Manipulation: Advancements and Challenges, Madrid, Spain, October, 2018. PDF
  5. Sihui Li, Haowei Zhao, and Zhi Li, “Learning Motion Primitives and Task Plan in Teleoperated Robot Motion through Multi-modal Interfaces”, RSS 2018 Workshop on Fundamental Issues in Symbiotic Human-Robot Interaction, Pittsburgh, Pennsylvania, June, 2018. PDF
  6. Heramb Nemlekar, Max Merlin, and Zhi Li, “High-level Representation of Kinesthetically Learned Motion of Human-Robot Collaborative Tasks”, RSS 2018 Workshop on Learning from Demonstrations for high level robotics tasks, Pittsburgh, Pennsylvania, June, 2018. PDF
  7. Kenechukwu C. Mbanisi, Hideyuki Kimpara, Jie Fu and Zhi Li, “A Control Architecture for Rendering Passive and Active Whole-body Coordination in Driving Tasks”, IROS 2017 Workshop on Human Movement Understanding for Humanoid and Wearable Robots, Vancouver, BC, Canada, September, 2017. PDF
  8. Zhi Li, Kris Hauser, “Predicting Object Transfer Position and Timing in Human-robot Handover Tasks”, Science and Systems: 2015 Robotics (RSS 2015), Human-Robot Handover Workshop, Rome, Italy, June, 2015. PDF
  9. Zhi Li, Kris Hauser, “Ebolabot: Progress toward a Tele-nursing Robotic System for Ebola Patient Treatment”, Science and Systems: 2015 Robotics (RSS 2015), Workshop on Robotics for Advanced Response to Epidemics (RARE), Rome, Italy, June, 2015. PDF

PhD Dissertation

  1. Zhi Li, “The synergy of human arm and robotic system” PDF

Master Thesis

  1. Zhi Li, “Networked haptic cooperation with remote dynamic proxies” PDF