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Opportunities
MPhil (2025Fall)/Full time RA: The candidate will work on flexible robots concerning i) sensor-based control, ii) robophysical simulation, iii) teleoperation, iv) robot modeling, or v) VR/XR for robot interaction. For MPhil student, a strong acadamic background and hands-on experince would be expected; For RA, s/he will be expected to work in Hong Kong for at least TEN months. Candidates with DJI-RM / ICRA / VR / robotics-related challenge experience will be a great plus. [Re-post on Nov 1, 2024]
Prospective students from ME/EE/CS/Control/Robotics/Software or related disciplines are welcome to email me.
Interested candidates are expected to attach the following 3 documents:
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Detailed CV
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Publications / Writing samples (i.e., PDFs of your papers)
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Research portfolio (no more than 3 slides demonstrating whatever you like)
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"Gravity-Aware Soft Slender Robots"
Jiewen Lai, Tian-Ao Ren, Pengfei Ye, Jingyao Sun, Hongliang Ren*
Under Review, 2024
tl;dr: Stay tuned!
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Large-Scale Selective Micropatterning with Robotics nDEP Tweezers and Hydrogel Encapsulation
Kaicheng Huang, Jiewen Lai, Hongliang Ren, Chunhui Wu, Xing Cheng, Henry K. Chu*
ACS Applied Materials & Interfaces, 2024
pdf
tl;dr: Patterning micro particles (cells) using negative dielectrophoresis (nDEP) tweezer in batches and encapsulating them into hydrogel for tissue engineering.
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Gesture-based Steering Framework for Redundant Soft Robots
Jiewen Lai,
Bo Lu, Kaicheng Huang, Henry K. Chu*
IEEE/ASME Transactions on Mechatronics (T-MECH), 2024
pdf
video
code
tl;dr: A steering framework for redundant soft manipulators using real-time hand motion and gestures.
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Sim-to-Real Transfer of Soft Robotic Navigation Strategies That
Learns from the Virtual Eye-in-Hand Vision
Jiewen Lai†,
Tian-Ao Ren†,
Wenchao Yue,
Shijian Su,
Jason Chan,
Hongliang Ren*
IEEE Transactions on Industrial Informatics (T-II), 2023
pdf
video
code
sofa archive
tl;dr: Transferring the navigation strategy that a redundant
soft robot learns from what it has seen in the SOFA-based virtual world to the real world.
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Lightweight Pneumatically Elastic Backbone Structure with Modular
Construction and Nonlinear Interaction for Soft Actuators
Yang Yang,
Jiewen Lai,
Chaochao Xu, Zhiguo He, Pengcheng Jiao, Hongliang Ren*
Soft Robotics (SoRo), 2023
pdf
videos
tl;dr: Robotizing any strip-shaped balloons with mechanically
programmed 3D-printed shells.
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Reconstructing External Force on the Circumferential Body of
Continuum Robot With Embedded Proprioceptive Sensors
Qingxiang Zhao,
Jiewen Lai,
Henry K. Chu*
IEEE Transactions on Industrial Electronics (T-IE), 2022
pdf
video
tl;dr: Endowing proprioception to soft robots with embedded
eGaIn vein through learning.
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Constrained Motion Planning of A Cable-Driven Soft Robot with
Compressible Curvature Modeling
Jiewen Lai,
Bo Lu,
Henry K. Chu*
IEEE Robotics and Automation Letters (RA-L), 2022
pdf
video1
video2
code
tl;dr: Tip pose and whole-body motion planning of a 7-DOF soft
robot in constrained environments considering the cable-driven-induced length
change of its soft body.
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Variable-Stiffness Control of A Dual-Segment Soft Robot using Depth
Vision
Jiewen Lai,
Bo Lu, Henry K. Chu*
IEEE/ASME Transactions on Mechatronics (T-MECH), 2021
pdf
video
tl;dr: Controlling the soft robot's 3D motion & stiffness in
real time with antagonistic cable actuation strategy based on eye-to-hand depth vision.
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Verticalized-Tip Trajectory Tracking of A 3D-Printable Soft
Continuum Robot: Enabling Surgical Blood Suction Automation
Jiewen Lai,
Kaicheng Huang, Bo Lu, Qingxiang Zhao, Henry K. Chu*
IEEE/ASME Transactions on Mechatronics (T-MECH), 2021
pdf
video
tl;dr: Configuration constraints on a redundant soft robot,
with rapid IK, solved through point cloud projection and image-based liquid
suction planning.
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Toward Vision-based Adaptive Configuring of A Bidirectional
Two-Segment Soft Continuum Manipulator
Jiewen Lai,
Kaicheng Huang, Bo Lu, and Henry K. Chu*
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
(AIM), 2020
pdf
video
tl;dr: Steering and servoing a two-segment soft robot's 2D pose with eye-to-hand vision in real-time - regardless of the static payload.
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A Learning-based Inverse Kinematics Solver for a Multi-Segment Continuum Robot in Robot-Independent Mapping
Jiewen Lai,
Kaicheng Huang, and Henry K. Chu*
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
pdf
code
best paper finalist award
tl;dr: Utilizing a lightweight MLP model to learn a redundant soft robot's IK through its simplified DH model.
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Research Grants
General Program - Guangdong Natural Science Fund, Guangdong Basic and Applied Basic Research Foundataion
Soft Robot Physical Simulation Based on Multi-Perception and Virtual-Real Fusion
PI, 2025-01 to 2027-12.
Young Scientists Fund, Natural Science Foundation of China (NSFC)
Coupled Tendon-driven Continuum Robots for Robot-assisted Minimally Invasive Surgery
PI, 2025-01 to 2027-12.
Direct Grant, CUHK Research Committee
Flexible Endoscopic Robots for Transluminal-Submucosal Drug Delivery
PI, 2024-01 to 2025-12.
IdeaBooster Fund Award, Venture Acceleration Office, CUHK InnoPort
Miniature Notched Tubular Soft Robots
PI, 2023-06 to 2024-12.
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Professional Memberships
Senior Member, Chinese Mechanical Engineering Society (CMES)
Member, IEEE Robotics and Automation Society (RAS)
Member, Chinese Association of Automation (CAA)
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Professional Services
Associate Editor (AE), ICRA'25, ICRA'24
Co-Chair, ICRA 2024 Workshop on C4SR+: Continuum, Compliant, Cooperative, Cognitive Surgical Robotic Systems in the Embodied AI Era
Guest Editor, Actuators
Reviewer,
- IEEE/ASME Transactions on Mechatronics
- IEEE Robotics and Automation Letters
- IEEE Transactions on Industrial Informatics
- IEEE Transactions on Automation Science and Engineering
- Journal of Field Robotics
- Nonlinear Dynamics
- Biomimetic Intelligence and Robotics
- Sensors
Reviewer for conferences, ICSR'24, IROS'24, RCAR'24, ICRA'24, RoboSoft'23, ARM'22, ICRA'22, ICRA'21, ICAR'21, AIM'20, CASE'20, IROS'19, ROBIO'19
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Thanks for the template
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