Papers
15
Total Citations
277
H-Index
9
About
Ye He is a robotics researcher whose work spans robot contact force control, human-robot interaction, and exoskeleton systems. He has made significant contributions to compliance control, developing innovative frameworks that address longstanding challenges in robotic force tracking within dynamic and uncertain environments. His most influential work, "Dynamic Adaptive Hybrid Impedance Control for Dynamic Contact Force Tracking in Uncertain Environments" (2019, 81 citations), introduced a breakthrough approach to simultaneously resolving transient force overshoots and steady-state tracking errors — problems that had confounded traditional compliance controllers. He extended this work through smooth adaptive hybrid impedance and fractional-order admittance control schemes, progressively refining robots' ability to interact safely and precisely with unpredictable surroundings. Beyond force control, He has broadened his research into human-robot collaboration, developing eye-hand coordination systems for assembly tasks and EMG-based teleoperation controllers. His work on infrared-sensor-based gait event detection for lower-limb exoskeletons (34 citations) demonstrates a practical commitment to wearable robotics. With over 260 cumulative citations across his publications, He's research reflects a coherent vision: enabling robots to operate intelligently, adaptively, and safely alongside humans in complex real-world settings.
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