2026

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.

2025

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.