高理富｜中国科学技术大学｜学者主页

2026

融合改进SAC-IA与加权ICP的高效点云配准方法

殷果，王大庆，孙玉香，高理富

《哈尔滨工业大学学报》

2026

Dual-Stream SPP-CNN for High-Precision sEMG Gesture Recognition in Human–Machine Interfaces

Zebin Li, Gang Zhang, Lifu Gao, Wenming Wang, Wei Lu, Guo-Cai Liu, Jinzhong Zhang

Biomimetics

DOI

2026

Robot Polishing Force Tracking Control with Stiffness and Damping Adaptive Impedance Filter

Bo-Han Lu, Lifu Gao

Journal of Physics, Conference Series

DOI

2025

ARX-Based Dynamic Modeling for SVD-LSM Six-Dimensional Force/Torque Sensors

Mengcheng Du, Lifu Gao, Yu-Xiang Sun

2025 5th International Conference on Sensors and Information Technology

DOI

2025

Spatial-Frequency Feature Fusion in a Transformer-Based Muscle Force Estimation Model via Electrical Impedance Tomography Sensor

Xiaodi Zhang, Ling-Xiao Li, Daqing Wang, Lifu Gao, Yu-Xiang Sun

IEEE Transactions on Instrumentation and Measurement

DOI

2025

Robotic normal constant force polishing of unknown-model workpieces using variable impedance control

Ling-Xiao Li, Bo-Han Lu, Man Jiang, Lifu Gao, Yu-Xiang Sun

Journal of Manufacturing Processes

DOI

2024

Improved multi-layer wavelet transform and blind source separation based ECG artifacts removal algorithm from the sEMG signal: in the case of upper limbs

Wei Lu, Dong-Liang Gong, X. Xue, Lifu Gao

Frontiers in Bioengineering and Biotechnology

DOI

2024

MMG-Based Knee Dynamic Extension Force Estimation Using Cross-Talk and IGWO-LSTM

Zebin Li, Lifu Gao, Gang Zhang, Wei Lu, Daqing Wang, Jinzhong Zhang, Hui-Bin Cao

Bioengineering

DOI

2024

Research on Measurement and Positioning System for Automatic Loading Robot

Xueping Li, Wei-Bin Guo, Lifu Gao, Chen-Lei Xie, Xulai Zhu

Proceedings of the 2024 3rd International Symposium on Control Engineering and Robotics

DOI

2023

基于IFWA-ELM的六维力传感器解耦算法

董翔，许子健，曹会彬，孙玉香，高理富

《传感技术学报》

2023

基于多任务学习的焊缝图像激光条纹分割与特征点定位方法研究

Yi-Geng Huang, Daqing Wang, Man Jiang, Hao-Yu Yin, Lifu Gao

Chinese Journal of Lasers

DOI

2023

Dynamic Modeling Method of Six-axis Force/Torque Sensors Based on IGWO-GRU*

Yufei Xue, Lifu Gao, Hui-Bin Cao, Yu-Xiang Sun

2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA)

DOI

2023

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

Tiantian Yu, Lifu Gao, Hui-Bin Cao, Daqing Wang, Man Jiang

Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science

DOI

2023

Kinematics Solution of Cable-Driven Parallel Robots Considering Cable Sagging*

Feng Gao, Lifu Gao, Daqing Wang, Man Jiang

2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA)

DOI

2023

Robotic Grasp Detection Method Based on Lightweight Feature Fusion Convolutional Neural Network

Hao-Yu Yin, Chen-Lei Xie, Daqing Wang, Tiantian Yu, Yi-Geng Huang, Lifu Gao

2023 2nd International Symposium on Control Engineering and Robotics (ISCER)

DOI

2022

sEMG-Upper Limb Interaction Force Estimation Framework Based on Residual Network and Bidirectional Long Short-Term Memory Network

Wei Lu, Lifu Gao, Hui-Bin Cao, Zebin Li

Applied Sciences

DOI

2022

Fault Restoration of Six-Axis Force/Torque Sensor Based on Optimized Back Propagation Networks

Xu-Hao Li, Lifu Gao, Xiao-Hui Li, Hui-Bin Cao, Yu-Xiang Sun

Italian National Conference on Sensors

DOI

2022

A Novel Noise Suppression and Artifact Removal Method of Mechanomyography Based on RLS, IGWO-VMD, and CEEMDAN

Zebin Li, Lifu Gao, Wei Lu, Daqing Wang, Hui-Bin Cao, Gang Zhang

Journal of Sensors

DOI

2022

A comparison of contributions of individual muscle and combination muscles to interaction force prediction using KPCA-DRSN model

Wei Lu, Lifu Gao, Hui-Bin Cao, Zebin Li, Daqing Wang

Frontiers in Bioengineering and Biotechnology

DOI

2022

Estimation of Knee Extension Force Using Mechanomyography Signals Based on GRA and ICS-SVR

Zebin Li, Lifu Gao, Wei Lu, Daqing Wang, Hui-Bin Cao, Gang Zhang

Italian National Conference on Sensors

DOI

2022

Continuous Estimation of Human Joint Angles From sEMG Using a Multi-Feature Temporal Convolutional Attention-Based Network

Shurun Wang, Hao Tang, Lifu Gao, Qi Tan

IEEE journal of biomedical and health informatics

DOI

2022

A Temperature Compensation Method for aSix-Axis Force/Torque Sensor Utilizing Ensemble hWOA-LSSVM Based on Improved Trimmed Bagging

Xuhao Li, Lifu Gao, Huibin Cao, Yuxiang Sun, Man Jiang, Yue Zhang

Sensors

DOI

2021

一种袋装水泥自动装车机设计与分析

王雯雯，赵轩浩，郭伟斌，高理富，谢陈磊，王千年

《控制工程》

DOI

2021

Estimation of Knee Joint Motion Acceleration Using Mechanomyography Signals

Chen-Lei Xie, Daqing Wang, Dun Hu, Lifu Gao

Advances in Intelligent Systems and Computing

DOI

2021

A Hybrid Deep Learning Framework for Estimation of Elbow Flexion Force via Electromyography

Wei Lu, Lifu Gao, Qianqian Zhang, Zebin Li

Journal of Physics, Conference Series

DOI

2021

Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

Qianqian Zhang, Daqing Wang, Lifu Gao

International Journal of Advanced Robotic Systems

DOI

2021

Design and Simulation of underwater manipulator gripper

Qianqian Zhang, Dun Hu, Wei Lu, Lifu Gao

2021 4th International Conference on Electron Device and Mechanical Engineering (ICEDME)

DOI

2021

Research on Collaborative Quality Assessment Model of Elbow Muscles based on MC-MMG and DRSN

W. Lu, Lifu Gao, Hui-Bin Cao, Jianying Zhang, Zebin Li, Daqing Wang

International Symposium on Artificial Intelligence in Medical Sciences

DOI

2021

Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm

Tiantian Yu, Daqing Wang, Lifu Gao

DOI

2021

Mechanomyography signals processing method using multivariate variational mode decomposition

Chen-Lei Xie, Daqing Wang, Dun Hu, Lifu Gao

International Symposium on Computational Intelligence and Design

DOI

2021

Prediction of Long-Term Elbow Flexion Force Intervals Based on the Informer Model and Electromyography

Wei Lu, Lifu Gao, Zebin Li, Daqing Wang, Hui-Bin Cao

Electronics

DOI

2020

基于IDE-FLANN方法的六维力传感器动态建模研究

汪正全，唐昊，孙玉香，高理富，曹会彬

《传感技术学报》

2020

六维力/力矩传感器研究发展综述

曹会彬，葛运建，孙玉香，王耀雄，高理富

《测控技术》

DOI

2020

空间多维力/力矩传感器关键技术研究综述

孙玉香，曹会彬，汪正全，高理富

《测控技术》

2020

Research on Image Positioning of Underwater Operation System in Deep-Sea

Hong-Wei Liu, Yu-Man Nie, Yuanyang Tang, Pingguo Cao, M. Ye, Lifu Gao, Hui-Bin Cao, Yu-Xiang Sun, Daqing Wang

International Conference Data Science and Business Analytics

DOI

2020

A long short-term memory neural network model for knee joint acceleration estimation using mechanomyography signals

Chen-Lei Xie, Daqing Wang, Haifeng Wu, Lifu Gao

International Journal of Advanced Robotic Systems

DOI

2019

车厢尺寸测量及定位系统研究

任伟华，高理富，谢陈磊，郭伟斌，江曼

《自动化仪表》

DOI

2019

Suppression of Motion Artifacts in Multichannel Mechanomyography Using Multivariate Empirical Mode Decomposition

Daqing Wang, Haifeng Wu, Chen-Lei Xie, Lifu Gao

IEEE Sensors Journal

DOI

2019

Angular Velocity Estimation of Knee Joint Based on MMG Signals

Chen-Lei Xie, Daqing Wang, Haifeng Wu, Lifu Gao

International Conference on Intelligent Robotics and Applications

DOI

2019

A CNN-SVM Combined Regression Model for Continuous Knee Angle Estimation Using Mechanomyography Signals

Haifeng Wu, Qing Huang, Daqing Wang, Lifu Gao

2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)

DOI

2019

Estimation of Knee Extension Force Using Mechanomyography Signals Detected Through Clothing

Daqing Wang, Chen-Lei Xie, Haifeng Wu, Dun Hu, Qianqian Zhang, Lifu Gao

International Conference on Intelligent Robotics and Applications

DOI

2019

Design of Cooperative Control System for the Automatic Loading Robot of Bagged Cement

Wen-Wen Wang, Xuanhao Zhao, Lifu Gao, Weibin Guo

International Conference on Automation, Control and Robotics Engineering

DOI

2018

A CNN-SVM combined model for pattern recognition of knee motion using mechanomyography signals

Haifeng Wu, Qing Huang, Daqing Wang, Lifu Gao

Journal Of Electromyography And Kinesiology，Vol. 42

DOI

2018

Real-time continuous recognition of knee motion using multi-channel mechanomyography signals detected on clothes

Haifeng Wu, Daqing Wang, Qing Huang, Lifu Gao

Journal Of Electromyography And Kinesiology，Vol. 38

DOI

2018

基于冗余测量的空间机械臂关节扭矩传感器研究

孙玉香，许玉云，曹会彬，双丰，高理富，葛运建

《传感技术学报》

2018

六维力传感器静态条件下的信号噪声处理

罗家浒，杨会成，曹会彬，高理富

《计算机仿真》

2018

一种基于肌动信号的股四头肌收缩力量估计方法研究

王大庆，郭伟斌，吴海峰，高理富

《传感技术学报》

2018

Analytic Modeling of Spoke Torque Sensor Based on Deformation Compatibility

Yu-Xiang Sun, Yuyun Xu, Hui-Bin Cao, F. Shuang, Lifu Gao, Yunjian Ge

International Conference on Informatics and Analytics

DOI

2017

农作物表型快速检测移动机器人系统及其主梁有限元分析

闫法领，史景飞，王大庆，高理富

《制造业自动化》

2017

一种气垫车气动系统设计及基于反演自适应滑模控制方法的研究

汪步云，许德章，高理富

《安徽工程大学学报》

2017

基于主动柔顺控制的工业机器人直接示教研究

史景飞，王大庆，闫法领，高理富

《组合机床与自动化加工技术》

2017

TECA转运车关键部件γ射线防护实验研究

张洪生，高理富，周小为，王大庆，史景飞，李旭，吴海峰

《湘潭大学学报(自然科学版)》

2016

水下机器人手爪标定与辅助控制系统方案研究

汪小龙，魏书恒，高理富，王森，丁仁船

《工程与建设》

2016

一种TECA转运车的并联举升机构

刘媛，郭伟斌，王大庆，史景飞，张洪生，高理富

《机器人》

2016

A self-calibration method for robot based on geometric constraints

Jing-Fei Shi, Hongsheng Zhang, Yuan Liu, Daqing Wang, Lifu Gao

International Conference on Informatics and Analytics

DOI

2016

幾何学的制約に基づくロボットのための自己較正法【Powered by NICT】

Jing-Fei Shi, Hong-Sheng Zhang, Yuan Liu, Danqing Wang, Lifu Gao

2015

Modbus TCP在TECA气垫车中的应用

常礼，孙建，曹会彬，高理富

《仪表技术》

2015

基于光电信号的玉米粒计数方法的研究

常礼，马成学，高理富

《中国科学技术大学学报》

2015

ITER部件转运车3自由度并联平台设计与有限元分析

郝志伟，董玉革，董必成，孙玉香，汪步云，高理富

《机械设计》

2015

A robot system for transferring SPINE standard pins between EMBL/ESRF pucks and ACTOR baskets

Shu-Guo Gui, Daqing Wang, Yuan Liu, Lifu Gao

Cyber ..

DOI

2015

Research on information acquisition and manipulation representation (MR) method of traditional chinese medical massage (TCMM) based on multi-dimension force sensor

Hui-Bin Cao, Yu-Xiang Sun, Jian-Guo Liu, Hua-Qiao Gui, Xiang Dong, Lifu Gao, Yunjian Ge

2015 IEEE International Conference on Information and Automation

DOI

2015

Geometric approach for inverse kinematics analysis of 6-Dof serial robot

Yuan Liu, Daqing Wang, Jian Sun, Li Chang, Cheng-Xue Ma, Yunjian Ge, Lifu Gao

2015 IEEE International Conference on Information and Automation

DOI

2015

Design and calibration of a torque sensor based on sectional redundant measurements

Yu-Xiang Sun, Hui-Bin Cao, Min Li, Rongxun Lin, H. Pan, F. Shuang, Lifu Gao, Yunjian Ge

2015 IEEE International Conference on Information and Automation

DOI

2014

六维力传感器设计与实验数据分析

桂树国，常礼，马成学，曹会彬，孙玉香，高理富

《仪表技术与传感器》

2014

合肥智能所智能机器人传感器实验室

高理富，孙建

《机器人技术与应用》

2014

两自由度人体手臂震颤模拟平台设计及性能分析

董必成，董玉革，孙建，高理富

《机械设计与制造》

2013

Sports Signal Acquisition Based on Miniature Inertial Measurement Unit

Ze-Yuan Lu, Hui-Bin Cao, Tingting Ma, Qiang Yu, Lifu Gao, F. Shuang, Yunjian Ge

DOI

2013

Rehabilitation gait track generator

Bu-Yun Wang, Quanjun Song, Yongjiu Liu, Wei-Tian Wang, Hui Wang, Yanyang Liu, Tingting Ma, Qiang Zhang, Yu-Ping Sun, F. Shuang, Lifu Gao, Yunjian Ge

2012

基于外骨骼机器人技术的人体手臂震颤抑制的理论和方法

孙建，向馗，高理富，李涛，葛运建

《智能系统学报》

2007

基于Visual C++的水下机器人手爪作业过程仿真与实现

聂余满，魏铭旭，高理富，葛运建

《计算机应用与软件》

2006

机器人多维力传感器标定Kalman滤波

许德章，葛运建，高理富

《电子测量与仪器学报》

2006

基于Stewart平台六维力传感器的分区静态标定方法

李海滨，隋春平，王洪光，高理富，赵明扬，龚海里

《传感技术学报》

2006

基于神经网络的六维力传感器静态标定方法研究

李海滨，段志信，高理富，康补晓

《内蒙古工业大学学报(自然科学版)》

2005

菱形移动机器人行走机构及其运动研究

王国梁，高理富，雷建和

《机械与电子》

2005

Tactile sensing for underwater operation system based on multi finger sensors information fusion

De-Zhang Xu, Yunjian Ge, Fei Shen, Zhong-Cheng Wu, Lifu Gao, Yu-Man Nie

International Conference on Informatics and Analytics

DOI

2004

智能机器人多传感器实验平台的图像伺服系统

高理富，王越超，李海滨，葛运建

《华中科技大学学报(自然科学版)》

2004

基于IEEE1451的机器人网络感知系统研究

宋光明，卞亦文，高理富，葛运建，戈瑜

《数据采集与处理》

2003

基于一体化结构的全力测试平台的研制及其动态性能研究

唐毅，葛运建，高理富

《仪器仪表学报》

2003

浅析我国传感器技术发展中的若干问题

葛运建，戈瑜，吴仲城，张建军，高理富

《世界产品与技术》

2002

航天机器人用六维腕力传感器动态特性研究

高理富，宋宁，葛运建，王国泰，徐科军

《机器人》

2002

无所不在的传感与机器人感知

葛运建，张建军，戈瑜，吴仲城，高理富

《自动化学报》

2002

一种具有力觉触觉临场感的主从机器人装配作业平台

高理富，王定成，唐毅，张建军，葛运建，宋宁

《机器人》

2002

Study of calibration and dynamic characteristic of SAFMS-T

Yi-Kang Tang, Yun-Jian Ge, Jun-Biao Tang, Lifu Gao

Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527)

DOI

2002

RESEARCH ON DYNAMIC CHARACTERISTICS OF SIX-AXISFORCE SENSOR FOR AERONAUTIC ROBOT

Lifu Gao

Estimation of Knee Joint Extension Force Using Mechanomyography Based on IGWO-SVR Algorithm

Zebin Li, Lifu Gao, Wei Lu, Daqing Wang, Chen-Lei Xie, Hui-Bin Cao, Yangquan Chen, Subhas Mukhopadhyay, N. Cennamo, M. J. Deen, Junseo Lee, Simone Morais, J. Jeong

精选作品

期刊论文

融合改进SAC-IA与加权ICP的高效点云配准方法

Dual-Stream SPP-CNN for High-Precision sEMG Gesture Recognition in Human–Machine Interfaces

Robot Polishing Force Tracking Control with Stiffness and Damping Adaptive Impedance Filter

ARX-Based Dynamic Modeling for SVD-LSM Six-Dimensional Force/Torque Sensors

Spatial-Frequency Feature Fusion in a Transformer-Based Muscle Force Estimation Model via Electrical Impedance Tomography Sensor

Robotic normal constant force polishing of unknown-model workpieces using variable impedance control

Improved multi-layer wavelet transform and blind source separation based ECG artifacts removal algorithm from the sEMG signal: in the case of upper limbs

MMG-Based Knee Dynamic Extension Force Estimation Using Cross-Talk and IGWO-LSTM

Research on Measurement and Positioning System for Automatic Loading Robot

基于IFWA-ELM的六维力传感器解耦算法

基于多任务学习的焊缝图像激光条纹分割与特征点定位方法研究

Dynamic Modeling Method of Six-axis Force/Torque Sensors Based on IGWO-GRU*

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

Kinematics Solution of Cable-Driven Parallel Robots Considering Cable Sagging*

Robotic Grasp Detection Method Based on Lightweight Feature Fusion Convolutional Neural Network

sEMG-Upper Limb Interaction Force Estimation Framework Based on Residual Network and Bidirectional Long Short-Term Memory Network

Fault Restoration of Six-Axis Force/Torque Sensor Based on Optimized Back Propagation Networks

A Novel Noise Suppression and Artifact Removal Method of Mechanomyography Based on RLS, IGWO-VMD, and CEEMDAN

A comparison of contributions of individual muscle and combination muscles to interaction force prediction using KPCA-DRSN model

Estimation of Knee Extension Force Using Mechanomyography Signals Based on GRA and ICS-SVR

Continuous Estimation of Human Joint Angles From sEMG Using a Multi-Feature Temporal Convolutional Attention-Based Network

A Temperature Compensation Method for aSix-Axis Force/Torque Sensor Utilizing Ensemble hWOA-LSSVM Based on Improved Trimmed Bagging

一种袋装水泥自动装车机设计与分析

Estimation of Knee Joint Motion Acceleration Using Mechanomyography Signals

A Hybrid Deep Learning Framework for Estimation of Elbow Flexion Force via Electromyography

Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

Design and Simulation of underwater manipulator gripper

Research on Collaborative Quality Assessment Model of Elbow Muscles based on MC-MMG and DRSN

Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm

Mechanomyography signals processing method using multivariate variational mode decomposition

Prediction of Long-Term Elbow Flexion Force Intervals Based on the Informer Model and Electromyography

基于IDE-FLANN方法的六维力传感器动态建模研究

六维力/力矩传感器研究发展综述

空间多维力/力矩传感器关键技术研究综述

Research on Image Positioning of Underwater Operation System in Deep-Sea

A long short-term memory neural network model for knee joint acceleration estimation using mechanomyography signals

车厢尺寸测量及定位系统研究

Suppression of Motion Artifacts in Multichannel Mechanomyography Using Multivariate Empirical Mode Decomposition

Angular Velocity Estimation of Knee Joint Based on MMG Signals

A CNN-SVM Combined Regression Model for Continuous Knee Angle Estimation Using Mechanomyography Signals

Estimation of Knee Extension Force Using Mechanomyography Signals Detected Through Clothing

Design of Cooperative Control System for the Automatic Loading Robot of Bagged Cement

A CNN-SVM combined model for pattern recognition of knee motion using mechanomyography signals

Real-time continuous recognition of knee motion using multi-channel mechanomyography signals detected on clothes

基于冗余测量的空间机械臂关节扭矩传感器研究

六维力传感器静态条件下的信号噪声处理

一种基于肌动信号的股四头肌收缩力量估计方法研究

Analytic Modeling of Spoke Torque Sensor Based on Deformation Compatibility

农作物表型快速检测移动机器人系统及其主梁有限元分析

一种气垫车气动系统设计及基于反演自适应滑模控制方法的研究

基于主动柔顺控制的工业机器人直接示教研究

TECA转运车关键部件γ射线防护实验研究

水下机器人手爪标定与辅助控制系统方案研究

一种TECA转运车的并联举升机构

A self-calibration method for robot based on geometric constraints

幾何学的制約に基づくロボットのための自己較正法【Powered by NICT】

Modbus TCP在TECA气垫车中的应用

基于光电信号的玉米粒计数方法的研究

ITER部件转运车3自由度并联平台设计与有限元分析

A robot system for transferring SPINE standard pins between EMBL/ESRF pucks and ACTOR baskets

Research on information acquisition and manipulation representation (MR) method of traditional chinese medical massage (TCMM) based on multi-dimension force sensor

Geometric approach for inverse kinematics analysis of 6-Dof serial robot

Design and calibration of a torque sensor based on sectional redundant measurements

六维力传感器设计与实验数据分析

合肥智能所智能机器人传感器实验室

两自由度人体手臂震颤模拟平台设计及性能分析

Sports Signal Acquisition Based on Miniature Inertial Measurement Unit

Rehabilitation gait track generator

基于外骨骼机器人技术的人体手臂震颤抑制的理论和方法

基于Visual C++的水下机器人手爪作业过程仿真与实现

机器人多维力传感器标定Kalman滤波

基于Stewart平台六维力传感器的分区静态标定方法

基于神经网络的六维力传感器静态标定方法研究

菱形移动机器人行走机构及其运动研究

Tactile sensing for underwater operation system based on multi finger sensors information fusion

智能机器人多传感器实验平台的图像伺服系统

基于IEEE1451的机器人网络感知系统研究

基于一体化结构的全力测试平台的研制及其动态性能研究