Publication

2024

Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

Yunhai Han, Rahul Batra, Nathan Boyd, Tuo Zhao, Yu She, Seth Hutchinson, Ye Zhao

IEEE/ASME Transactions on Mechatronics (TMECH), 2024, Accepted

Paper | Project video

LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping 

Zhengtong Xu and Yu She

IEEE Transactions on Robotics (TRO), 2024, Conditionally Accepted

Paper

2023

VisTac: Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation

Sheeraz Athar, Gaurav Patel, Zhengtong Xu, Qiang Qiu, and Yu She

IEEE Sensors Journal, 2023, DOI: 10.1109/JSEN.2023.3310918. 

Paper | Project video

Visuotactile Affordances for Cloth Manipulation with Local Control

Neha Sunil, Shaoxiong Wang, Yu She, Edward Adelson, Alberto Rodriguez Garcia

6th Annual Conference on Robot Learning (CoRL), 2022

Paper | Project video

2021

Cable Manipulation with a Tactile-Reactive Gripper

Yu She*, Shaoxiong Wang*, Siyuan Dong*, Neha Sunil, Alberto Rodriguez, Edward Adelson (*equal contribution)

The International Journal of Robotics Research, 2021 (RSS 2020 Special Issue)

Paper | Project website

GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger

Shaoxiong Wang,   Yu She,   Branden Romero,   Edward H. Adelson

IEEE International Conference on Robotics and Automation (ICRA) 2021

Paper | Project website 

A parametric study of compliant link design for safe physical human-robot interaction

Yu She, Siyang Song, and Hai-Jun Su, Junmin Wang

 Robotica, 2021

Paper  

2020

Exoskeleton-covered soft finger with vision-based proprioception and tactile sensing 

Yu She*, Sandra Q. Liu*, Peiyu Yu*, Edward Adelson  (*equal contribution)

IEEE International Conference on Robotics and Automation (ICRA), 2020 

Paper | Oral presentation | MIT news | Yahoo news

Cable Manipulation with a Tactile-Reactive Gripper

Yu She*, Shaoxiong Wang*, Siyuan Dong*, Neha Sunil, Alberto Rodriguez, Edward Adelson (*equal contribution)

Robotics: Science and Systems (RSS), 2020

Best Paper Finalist | Paper | Oral presentation | Project website | MIT news | Tech Brief 

Design and modeling of a Tunable Stiffness Arm for Safe Physical Human-Robot Interaction

Yu She, Hai-Jun Su, Deshan Meng, Chen Lai

ASME  Journal of Mechanisms and Robotics, 2020

Paper  

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Human-Robot Interactions 

Yu She, Zhaoyuan Gu, Siyang Song, Haijun Su, Junmin Wang

ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE) - 44th Mechanisms and Robotics Conference, 2020

Paper | Oral presentation

A comparative study on the effect of mechanical compliance for safe physical human-robot interaction

Yu She, Siyang Song, and Hai-Jun Su, Junmin Wang

 ASME  Journal of Mechanical Design (JMD), 2020

Paper | Workshop abstract | Workshop oral presentation 

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

Siyang Song, Yu She, Junmin Wang, Haijun Su

ASME  Journal of Mechanisms and Robotics, 2020

Paper |   Workshop abstract | Workshop oral presentation

2019

Modeling and Control of Inherently Safe Robots with Variable Stiffness Links

Siyang Song, Xianpai Zeng, Yu She, Junmin Wang, Hai-Jun Su

Robotics and Autonomous Systems, 2019

Paper | Workshop abstract | Workshop oral presentation 

2018

Introducing mass parameters to Pseudo–Rigid–Body models for precisely predicting dynamics of compliant mechanisms

Yu She, Deshan Meng, Haijun Su, Siyang Song, Junmin Wang

Mechanism and Machine Theory, 2018

Paper  

Design and Modeling of a Compliant Link for Inherently Safe Corobots

Yu She, Haijun Su, Deshan Meng, Siyang Song, Junmin Wang

ASME Journal of Mechanisms and Robotics, 2018

Paper  

Barrier Lyapunov Function Based Control of a Flexible Link CoRobot with Safety Constraints

Siyang Song, Yu She, Junmin Wang, Hai-jun Su

ASME Dynamic Systems and Control (DSCC) Conference, 2018

Best Paper Award | Paper 

Dynamic Modeling and Vibration Characteristics Analysis of Flexible-link and Flexible-joint Space Manipulator

Deshan Meng, Yu She, Weining Lu, Wenfu Xu, Bin Liang

Multibody System Dynamics. 2018

Paper 

Statics of Continuum Space Manipulators with Noconstant Curvature Via Pseudo-Rigid-Body 3R Model

Shaoping Huang, Deshan Meng, Yu She, Xueqian Wang, Bin Liang, Bo Yuan

IEEE Access, 2018

Paper 

Vibration suppression control of free-floating space robots with flexible appendages for autonomous target capturing

Deshan Meng, Weining Lu, Wenfu Xu, Yu She, Xueqian Wang, Bin Liang, Bo Yuan

Acta Astronautica, 2018

Paper 

2017

On the Impact Force of Human Robot Interaction: Joint Compliance vs. Link Compliance

Yu She, Deshan Meng, Junxiao Cui, Hai-Jun Su

IEEE International Conference on Robotics and Automation (ICRA), 2017

Paper 

Pseudo-Rigid-Body Models for Dynamics of Compliant Robotic Links

Yu She, Deshan Meng, Haijun Su

ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), 2017

Paper 

Modeling and optimization of head-collision of a flexible joint robot

Jian Liang, Deshan Meng, Xueqian Wang, Bin Liang, Yu She

The 36th Chinese Control Conference (CCC), 2017

Paper 

2016

Modeling and validation of a novel bending actuator for soft robotics applications

 Yu She, Ji Chen, Hongliang Shi, Haijun Su

Soft Robotics, 2016

Paper | Relevant video

Design and Prototype of a Tunable Stiffness Arm for Safe Human-Robot Interaction

Yu She, Haijun Su, Deshan Meng, Cheng Lai

ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), 2016

Paper 

The Fault-tolerant Analysis and Control of the SSRMS-type Manipulators with Single Joint Failure

Yu She, Wenfu Xu, Hongliang Shi, Haijun Su

Acta Astronautica, 2016

Paper 

2015

A Transformable Wheel Robot with A Passive Leg

Yu She*, Carter J. Hurd*, Haijun Su  (*equal contribution)

IEEE International Conference on Intelligent Robots and Systems (IROS), 2015

Paper | Relevant video

Design and Fabrication of a Soft Robotic Hand with Embedded Actuators and Sensors

Yu She, Chang Li, Jonathon Cleary, Haijun Su

ASME  Journal of Mechanisms and Robotics, 2015

4th Place at the ASME Student Mechanism and Robot Design Competition | Paper 

Shape Optimization of 2d Compliant Links for Design of Inherently Safe Robots

Yu She, Haijun Su, Carter J. Hurd

ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), 2015

Paper 

Dynamic Modeling of a 2D Compliant Link for Safety Evaluation in Human-Robot Interactions

Yu She, Deshan Meng, Hongliang Shi, Haijun Su

IEEE International Conference on Intelligent Robots and Systems (IROS), 2015

Paper 

A Parallel MEMS Guide Mechanism with Beam-Based Motion Amplifier

Hongliang Shi, Yu She, Xuechao Duan, Hai-jun Su

Proceedings of The Fifth Asia International Symposium on Mechatronics (AISM), 2015

Paper 

Modeling and measurement algorithm of hexapod platform sensor using inverse kinematics

Hongliang Shi, Yu She, Xuechao Duan

IEEE 5th Australian Control Conference (AUCC), 2015

Paper 

Design of a 3-6 Hexapod Platform Sensor Using Forward Kinematics 

Hongliang Shi, Yu She, Xuechao Duan

Proceedings of the World Congress on Engineering and Computer Science (WCECS), 2015

Paper 

A Structural Model for Loading Analysis of a Hexapod Platform

Hongliang Shi, Yu She, Xuechao Duan

Proceedings of World Congress on Advances in Aeronautics, Nano, Bio, Robotics, and Energy (ANBRE), 2015.

Paper 

Design of a parallel kinematic MEMS XY nanopositioner

Hongliang Shi, Yongsik Kim, Yu She

IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015

Paper 

2014

Analytical and Semi-Analytical Inverse Kinematics of SSRMS-type Manipulators with Single Joint Locked Failure

Wenfu Xu, Yu She, Yangsheng Xu

Acta Astronautica, 2014

Paper 

2013

Inverse Kinematics of SSRMS-type Manipulators with Single Joint Locked Failure

Yu She, Wenfu Xu, Zhiying Wang, Jianqing Peng

IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013

Best Paper Finalist | Paper 

Dynamic Analysis of the Compounded System Formed by Dual-arm Space Robot Capturing Target

Jianqing Peng, Wenfu Xu, Zhiying Wang, Yu She

IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013

Paper  

Dynamic Modeling of Self-reconfigurable Multi-arm Space Robotic System with Variable Topology

Yu Zhang, Wenfu Xu, Zhiying Wang, Yu She

IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013

Paper  

2012

Embedded Semi-physical Simulation System of Bomb-disposal Robot (in Chinese with English abstract)

Wenfu Xu, Yu She, Zonggao Mu

Journal of Harbin Institute of Technology, 2012

Paper | Relevant video

Singularity-free Path Planning of Dual-arm Space Robot for Keeping the Base Stabilized

Wenfu Xu, Houde Liu, Yu She,  Bin Liang

IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012

Paper  

Design of Monitoring and Control System for Aquaculture Environment Based on wireless-Embedded Technology

Yu She, Jun Yang,  Gang Ya

International Conference on Mechatronics and Control Engineering (ICMCE), 2012

3rd Place at the Taiyuan Youth Invention and Innovation Competition, China | Paper 

2011

A Novel Transformable Security Window (in Chinese)

Jiajun Ren, xiuhong Li, Ming Zhang, Yinmin Pang, Yu She, Yang Li, Yuechao Zhao, Xiaolong Li, Meng Cao 

Patent Publication No: CN 102278047 A, 2011 

1st Place at the National Undergraduate Mechanical Innovational Design Competition, China | Patent | Video