Nanyang Technological University
I am a Master's student in Mechanical Engineering at Nanyang Technological University (NTU), Singapore, where I am supervised by Prof. Ang Wei Tech, Director of the Robotics Research Centre (RRC), in its Assistive Robotics Lab. I received my B.Eng. in Mechanical Engineering from South China University of Technology (SCUT) in 2024.
My research lies at the intersection of Robotics and Physical Human-Robot Interaction (pHRI). My interests span:
- Physics-based & human-in-the-loop simulation
- System identification & Real2Sim modeling
- Control systems & reinforcement learning
Education
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Nanyang Technological UniversitySchool of Mechanical and Aerospace Engineering
M.Sc. in Mechanical EngineeringAug. 2024 - present -
South China University of TechnologyB.Eng. in Mechanical EngineeringSep. 2020 - Jun. 2024
Honors & Awards
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MAE Graduate Study Grant, NTU2024
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Second-class Scholarship, SCUT2023
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National First Prize, Formula Student Autonomous China (FSAC)2022
News
Selected Publications (view all )
Beyond Heuristics: A Standardized Real2Sim Pipeline for Physical Human-Robot Interaction in Human-in-the-Loop Simulation
Chengyuan Yang, Yifan Wang, Chun Kwang Tan, et al.
Under review at IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026
We propose a standardized Real2Sim pipeline that calibrates a 6-DoF mass-spring-damper model from real measurements to enhance the fidelity of physical human-robot interaction simulations.
Beyond Heuristics: A Standardized Real2Sim Pipeline for Physical Human-Robot Interaction in Human-in-the-Loop Simulation
Chengyuan Yang, Yifan Wang, Chun Kwang Tan, et al.
Under review at IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026
We propose a standardized Real2Sim pipeline that calibrates a 6-DoF mass-spring-damper model from real measurements to enhance the fidelity of physical human-robot interaction simulations.
DRBA: Dynamic Robotic Balance Assistant — An Assist-as-Needed Gait and Balance Rehabilitation Robot for Versatile Training
Yifan Wang, Lei Li, Youlong Wang, Chengyuan Yang, et al.
Under review at IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026
DRBA is a versatile robotic system for gait rehabilitation and balance training, employing an assist-as-needed control strategy to adapt support to individual users.
DRBA: Dynamic Robotic Balance Assistant — An Assist-as-Needed Gait and Balance Rehabilitation Robot for Versatile Training
Yifan Wang, Lei Li, Youlong Wang, Chengyuan Yang, et al.
Under review at IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2026
DRBA is a versatile robotic system for gait rehabilitation and balance training, employing an assist-as-needed control strategy to adapt support to individual users.
PHRASE: Personalized Human-Robot Interaction Simulation with Accurate Soft Body Modeling for Safe and Ergonomic Gait Assistance
Chengyuan Yang, Yifan Wang, Vasanthamaran Ravichandram, et al.
Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025 Workshop
We propose PHRASE, a personalized human-robot interaction simulation framework in MuJoCo that integrates personalized SKEL human models and elastic strap dynamics to enable safe and ergonomic gait assistance.
PHRASE: Personalized Human-Robot Interaction Simulation with Accurate Soft Body Modeling for Safe and Ergonomic Gait Assistance
Chengyuan Yang, Yifan Wang, Vasanthamaran Ravichandram, et al.
Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025 Workshop
We propose PHRASE, a personalized human-robot interaction simulation framework in MuJoCo that integrates personalized SKEL human models and elastic strap dynamics to enable safe and ergonomic gait assistance.