Gu Research Group
Soft Robotics and Biodesign
Journal Publications Conference Publications

Journal Publications

Click pdf files of papers for fair use. * indicates the corresponding author.

[68]. Chao Gao#, Zhichao Li#, Jiang Zou#, Jin Cheng, Kai Jiang, Changrun Liu, Guoying Gu*, Wei Tao* and Jie Song*, “Mechanical effect on gene transfection based on dielectric elastomer actuator,” ACS Applied Bio Materials, Accepted, 20 January 2020.

[67]. Xinjun Sheng, Lei Tang, Xinjia Huang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots,” Science China Technological Sciences, Accepted, 13 January 2020.

[66]. Haipeng Xu, Zequn Shen and Guoying Gu*,"Performance characterization of ionic-hydrogel based strain sensors," Science China Technological Sciences, Accepted, December 24, 2019.

[65]. Lisen Ge, Feifei Chen, Dong Wang, Yifan Zhang, Dong Han, Tao Wang and Guoying Gu*, “Design, modeling and evaluation of fabric-based pneumatic actuators for soft wearable assistive gloves,” Soft Robotics, Accepted, December 24, 2019.[pdf]

[64]. Lei Tang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms,” Science China Technological Sciences, vol. 63, no. 2, pp: 255-264, 2020.[pdf]

[63]. Hyunseok Shim, Kyoseung Sim, Faheem Ershad, Pinyi Yang, Anish Thukral, Zhoulyu Rao, Hae-Jin Kim, Yanghui Liu, Guoying Gu, Li Gao, Xinran Wang, Yang Chai, and Cunjiang Yu, “Stretchable elastic synaptic transistors for neurologically integrated soft engineering systems,” Science Advances, vol. 5, no. 10, p. eaax4961, 2019.[pdf]

[62]. Zhichao Li, Chao Gao, Sisi Fan, Jiang Zou, Guoying Gu, Mingdong Dong and Jie Song, “Cell nanomechanics based on dielectric elastomer actuator device,” Nano-Micro Letters, vol. 11, p. 98, 2019.[pdf]

[61]. Jiang Zou and Guoying Gu*, “Dynamic modeling of dielectric elastomer actuators with a minimum energy structure,” Smart Materials and Structures, vol. 28, no. 8, p. 085039, 2019.[pdf]

[60]. Feifei Chen, Kun Liu, Yiqiang Wang, Jiang Zou, Guoying Gu* and Xiangyang Zhu, “Automatic Design of Soft Dielectric Elastomer Actuators with Optimal Spatial Electric Fields,” IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1150-1165, 2019.[pdf][video]

[59]. Jiang Zou and Guoying Gu*, “Feedforward control of the rate-dependent viscoelastic hysteresis nonlinearity in dielectric elastomer actuators,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2340-2347, 2019.[pdf]

[58]. Shuo Jiang, Haipeng Xu, Ling Li, Junkai Xu, Guoying Gu, and Peter B.Shull, “Stretchable e-skin patch for gesture recognition on the back of the hand,” IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 647 - 657, 2019.[pdf]

[57]. Sujie Chen, Sai Peng, Wenjian Sun, Guoying Gu, Qing Zhang, and Xiaojun Guo, “Scalable processing ultra-thin polymer dielectric films with a generic solution based approach for wearable soft electronics,” Advanced Materials Technology, vol. 4, no. 7, p. 1800681, 2019.[pdf]

[56]. Lei Tang, Jie Huang, Limin Zhu, Xiangyang Zhu and Guoying Gu*, “Path tracking of a cable-driven snake robot with a two-level motion planning method,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 3, pp. 935-946, 2019.[pdf]

[55]. Jiang Zou and Guoying Gu*, “Feedforward control of the rate-dependent viscoelastic hysteresis nonlinearity in dielectric elastomer actuators,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2340-2347, 2019.[pdf]

[54]. Guoying Gu*, Haipeng Xu, Sai Peng, Ling Li, Sujie Chen, Tongqing Lu, and Xiaojun Guo, “Integrated soft ionotronic skin with stretchable and transparent hydrogel-elastomer ionic sensors for hand-motion monitoring,” Soft Robotics, vol. 6, no. 3, pp. 368-376, 2019.[pdf][video]

[53].Linlin Li, Chunxia Li, Guoying Gu* and Limin Zhu, “Modified repetitive control based cross-coupling compensation approach for a piezoelectric tube scanner of Atomic Force Microscopes,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 2, pp. 666-676, 2019. [pdf]

[52].Yuan-Fang Zhang#, Ningbin Zhang#, Hardik Hingorani, Ningyuan Ding, Dong Wang, Chao Yuan, Biao Zhang, Guoying Gu* and Qi Ge*, “Fast-Response, Stiffness-Tunable Soft Actuator by Hybrid Multimaterial 3D Printing,” Advanced Functional Materials, vol. 29, no. 15, p. 1806698, 2019.[pdf] [Frontispiece][video]

[51].Jiang Zou and Guoying Gu*, “High-precision tracking control of a soft dielectric elastomer actuator with inverse viscoelastic hysteresis compensation,” IEEE/ASME Transactions on Mechatronics, vol 24, no. 1, pp. 36 – 44, 2019..[pdf]

[50].Guoying Gu*#, Jiang Zou#, Ruike Zhao, Xuanhe Zhao* and Xiangyang Zhu*, “Soft wall-climbing robots,” Science Robotics, vol. 3, no.25, eaat2874, 2018. (Banner Image highlighted in Science Robotics)[pdf][vedio] [SM] [link]

[49]. Hai-Tao Zhang, Bo Hu, Linlin Li, Zhiyong Chen, Dongrui Wu, Bowen Xu, Xiang Huang, Guoying Gu and Ye Yuan, “Distributed Hammerstein modeling for cross-coupling effect of multi-axis piezoelectric micropositioning stages,” IEEE/ASME Transactions on Mechatronics, vol. 23, no. 6, pp. 2794-2804, 2018[pdf]

[48]. Lisen Ge#, Tianyu Wang#, Ningbin Zhang and Guoying Gu*, “Fabrication method of soft pneumatic network actuators with oblique chambers,” Journal of Visualized Experiments (JoVE), vol. 138, article e58277, doi:10.3791/58277, 2018.[pdf][video]

[47]. Ling Li, Shuo Jiang, Peter B. Shull and Guoying Gu*, “SkinGest: Artificial Skin for Gesture Recognition via Filmy Stretchable Strain Sensors,” Advanced Robotics, vol. 32, no. 21, pp. 1112-1121, 2018.[pdf]

[46]. Wentao Dong, Youhua Wang, Ying Zhou, Yunzhao Bai, Zhaojie Ju, Jiajie Guo, Guoying Gu, Kun Bai, Gaoxiang Ouyang, Shiming Chen, Qin Zhang, and Yongan Huang*, “Soft human–machine interfaces: design, sensing and stimulation,” International Journal of Intelligent Robotics and Applications, Accepted 2018.[pdf]

[45]. Jiang Zou and Guoying Gu*, “Modeling the viscoelastic hysteresis of dielectric elastomer actuators with a modified rate-dependent Prandtl-Ishlinskii model,” Polymers, vol. 10, no.5, p. 525, 2018.[pdf]

[44]. Dong Wang, Ling Li, Ahmad Serjouei, Longteng Dong, Oliver Weeger, Guoying Gu* and Qi Ge*, “Controllable helical deformations on printed anisotropic composite soft actuators,” Applied Physics Letters, vol. 112, no. 8, p. 181905, 2018.[pdf]

[43]. Shenglong Xie, Haitao Liu, Jiangping Mei and Guoying Gu, “Modeling and compensation of asymmetric hysteresis for pneumatic artificial muscles with a modified generalized Prandtl–Ishlinskii model,” Mechatronics, vol. 52, pp. 49-57, 2018.[pdf]

[42]. Lisen Ge#, Longteng Dong#, Dong Wang, Qi Ge* and Guoying Gu*, “A digital light processing 3D printer for fast and high-precision fabrication of soft pneumatic actuators,” Sensors & Actuators: A. Physical, vol. 273, pp. 285-292, 2018.[pdf][video]

[41]. Tianyu Wang#, Lisen Ge# and Guoying Gu*, “Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motion,” Sensors & Actuators: A. Physical, vol. 271, pp. 131-138, 2018.[pdf][video]

[40]. Linlin Li, Chunxia Li, Guoying Gu* and Limin Zhu, “Positive acceleration, velocity and position feedback based damping control approach for piezo-actuated nanopositioning stages, Mechatronics, vol. 47, pp. 97-104, 2017.[pdf]

[39]. Lei Tang, Jungang Wang, Yang Zheng, Guoying Gu*, Limin Zhu and Xiangyang Zhu, “Design of a cable-driven hyper-redundant robot with experimental validation,” International Journal of Advanced Robotic Systems, vol. 14, no.5, pp. 1-12, 2017.[pdf][vedio]

[38]. Guoying Gu*, Ujjaval Gupta, Jian Zhu, Limin Zhu and Xiangyang Zhu, “Modeling of viscoelastic electromechanical behavior in a soft dielectric elastomer actuator,” IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1263-1271, 2017.[pdf]

[37]. Chunxia Li, Ye Ding, Guoying Gu and Limin Zhu, “Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 855-864, 2017.

[36]. Jiang Zou, Guoying Gu* and Limin Zhu, “Open-loop control of creep and vibration in dielectric elastomer actuators with phenomenological models,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 1, pp. 51-58, 2017.[pdf]

[35]. Chunxia Li, Guoying Gu, Meiju Yang and Limin Zhu, “High-speed tracking of a nanopositioning stage using modified repetitive control,” IEEE Transactions on Automation Science and Engineering, vol. 14, no. 3, pp. 1467-1477, 2017.[pdf]

[34]. Liang Xu#, Hanqing Chen#, Jiang Zou, W. Dong, Guoying Gu*, Limin Zhu and Xiangyang Zhu, “A Bio-inspired annelid robot: a dielectric elastomer actuated soft robot,” Bioinspiration & Biomimetics, vol. 12, no. 2, p. 025003, 2017.[pdf]

[33]. Guoying Gu*, Jian Zhu, Limin Zhu and Xiangyang Zhu, “A survey on dielectric elastomer actuators for soft robots,” Bioinspiration & Biomimetics, vol. 12, no.1, p. 011003, 2017. (ESI Highly Cited Paper)[pdf]

[32]. Xiong Xu, Guoying Gu, Zhenhua Xiong, Xinjun Sheng, Xiangyang Zhu, “Development of a decentralized multi-axis synchronous control approach for real-time networks,” ISA Transactions, vol. 68, pp. 116–126, 2017. [pdf]

[31]. Chunxia Li, Guoying Gu, Limin Zhu and Chun-Yi Su, “Odd-harmonic repetitive control for high-speed raster scanning of piezo-actuated nanopositioning stages with hysteresis nonlinearity,” Sensors & Actuators: A. Physical, vol. 244, pp. 95-105, 2016.[pdf]

[30]. Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “A High-performance Flight Control Approach for Quadrotors using a Modified Active Disturbance Rejection Technique,” Robotics and Autonomous Systems, vol. 83, pp. 177-187, 2016. [pdf]

[29]. Zhi Li, Xiuyu Zhang, Guoying Gu, Xinkai Chen and Chun-Yi Su “A comprehensive dynamic model for magnetostrictive actuators considering different input frequencies with mechanical loads,” IEEE Transactions on Industrial Informatics, vol. 12, no. 3, pp. 980-990, 2016. [pdf]

[28]. Guoying Gu*, Chunxia Li, Limin Zhu and Chun-Yi Su, “Modeling and identification of piezoelectric-actuated stages cascading hysteresis nonlinearity with linear dynamics,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 3, pp. 1792-1797, 2016.[pdf]

[27]. Guoying Gu*, Limin Zhu, Chun-Yi Su, Han Ding and Sergej Fatikow, “Modeling and control of piezo-actuated nanopositioning stages: A survey,” IEEE Transactions on Automation Science and Engineering, vol.13, no. 1, pp. 313-332, 2016. (ESI Highly Cited Paper)[pdf]

[26]. Guoying Gu, Ujjaval Gupta, Jian Zhu, Limin Zhu and Xiangyang Zhu, “Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model,” Applied Physics Letters, vol. 107, no. 4, p. 042907, 2015. [pdf]

[25]. Guoying Gu*, Limin Zhu, Chun-Yi Su, Han Ding and Sergej Fatikow, “Proxy-based sliding mode tracking control of piezoelectric-actuated nanopositioning stages,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. 1956-1965, 2015.[pdf]

[24]. Meiju Yang#, Jinbo Niu, Chunxia Li#, Guoying Gu and Limin Zhu, “High-bandwidth control of nanopositioning stages via an inner-loop delayed position feedback,” IEEE Transactions on Automation Science and Engineering, vol. 12, no. 4, pp. 1357-1368, 2015. [pdf]

[23]. Guoying Gu*, Chunyi Su and Limin Zhu, “Robust inverse compensation and control of a class of non-linear systems with unknown asymmetric backlash non-linearity,” IET Control Theory & Applications, vol. 9, no. 12, pp. 1869-1877, 2015. [pdf]

[22]. Meiju Yang, Chunxia Li, Guoying Gu and Limin Zhu, “Modeling and compensating the dynamic hysteresis of piezoelectric actuators via a modified rate-dependent Prandtl-Ishlinskii model,” Smart Materials and Structures, vol. 24, no. 12, p. 125006, 2015.[pdf]

[21]. Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “Solving the boundary value problem of an under-actuated quadrotor with subspace stabilization approach,” Journal of Intelligent and Robotic Systems, vol. 80, no. 2, pp. 299-311, 2015. [pdf]

[20]. Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “Development of a quadrotor test bed: modeling, parameter identification, controller design, and trajectory generation,” International Journal of Advanced Robotic Systems, vol. 12, article 7, doi:10.5772 /59618, 2015.[pdf]

[19]. Guoying Gu*, Limin Zhu and Chun-Yi Su, “Modeling and compensation of asymmetric hysteresis nonlinearity for piezoceramic actuators with a modified Prandtl-Ishlinskii model,” IEEE Transactions on Industrial Electronics, vol. 61, no. 3, pp. 1583-1595, 2014. (ESI Highly Cited Paper)[pdf]

[18]. Meiju Yang, Guoying Gu and Limin Zhu, “High-bandwidth tracking control of piezo-actuated nanopositioning stages using closed-loop input shaper,” Mechatronics, vol. 24, no. 6, pp. 724-733, 2014.[pdf]

[17]. Wei Dong, Guoying Gu*, Xiangyang Zhu and Han Ding, “High-performance trajectory tracking control of a quadrotor with disturbance observer,” Sensors & Actuators: A. Physical, vol. 211, pp. 67-77, 2014. [pdf]

[16]. Meiju Yang, Guoying Gu* and Limin Zhu, “A modified Prandtl-Ishlinskii model for rate-dependent hysteresis nonlinearity using mth-power velocity damping mechanism,” International Journal of Advanced Robotic Systems, vol. 11, article 163, doi: 10.5772/58984, 2014.[pdf]

[15]. Guoying Gu, Limin Zhu and Chun-Yi Su, “Integral resonant damping for high-bandwidth control of piezoceramic stack actuators with asymmetric hysteresis nonlinearity,” Mechatronics, vol. 24, no. 4, pp. 367-375, 2014. [pdf]

[14]. Guoying Gu*, Limin Zhu and Chun-Yi Su “High-precision control of piezoelectric nanopositioning stages using hysteresis compensator and disturbance observer,” Smart Materials and Structures, vol. 23, no. 10, p. 105007, 2014.[pdf]

[13]. Guoying Gu* and Limin Zhu, “Comparative experiments regarding approaches to feedforward hysteresis compensation for piezoceramic actuators,” Smart Materials and Structures, vol. 23, no. 9, p. 095029, 2014. [pdf]

[12]. Guoying Gu* and Limin Zhu, “An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages,” Review of Scientific Instruments, vol. 85, no. 5, p. 055112, 2014. [pdf]

[11]. Guoying Gu*, Limin Zhu, Chun-Yi Su and Han Ding, “Motion control of piezoelectric positioning stages: modeling, controller design and experimental evaluation,” IEEE/ASME Transactions on Mechatronics, vol. 18, no. 5, pp. 1459-1471, 2013. (ESI Highly Cited Paper and ESI Hot Paper)[pdf]

[10]. Guoying Gu*, Zhi Li, Limin Zhu and Chun-Yi Su, “A comprehensive dynamic modeling approach for giant magnetostrictive material actuators,” Smart Materials and Structures, vol. 22, no. 12, p. 125005, 2013. [pdf]

[9]. Guoying Gu and Limin Zhu, “Motion control of piezoceramic actuators with creep, hysteresis and vibration compensation,” Sensors & Actuators: A. Physical, vol. 197, pp. 76–87, 2013. [pdf]

[8]. Chunxia Li, Guoying Gu, Meiju Yang and Limin Zhu, “Design, analysis and testing of a parallel-kinematic high-bandwidth XY nanopositioning stage,” Review of Scientific Instruments, vol. 84, no. 12, p. 125111, 2013.[pdf]

[7]. Meiju Yang, Guoying Gu and Limin Zhu, “Parameter identification of the generalized Prandtl-Ishlinskii model for piezoelectric actuators using modified particle swarm optimization,” Sensors & Actuators: A. Physical, vol. 189, pp. 254–265, 2013. [pdf]

[6]. Guoying Gu, Meiju Yang and Limin Zhu, “Real-time inverse hysteresis compensation of piezoelectric actuators with a modified Prandtl-Ishlinskii model,” Review of Scientific Instruments, vol. 83, no. 6, p. 065106, 2012. [pdf]

[5]. Leijie Lai, Shiyu Zhou, Guoying Gu and Limin Zhu, “Development of an automatic approaching system for electrochemical nanofabrication using visual and force-displacement sensing,” Sensors, vol. 12, no. 7, pp. 8465-8476, 2012.[pdf]

[4]. Leijie Lai, Guoying Gu and Limin Zhu, “Design and control of a decoupled two degree of freedom translation parallel micro-positioning stage,” Review of Scientific Instruments, vol. 83, no. 4, p. 045105, 2012. [pdf]

[3]. Guoying Gu and Limin Zhu, “Modeling of rate-dependent hysteresis in piezoelectric actuators using a family of ellipses,” Sensors & Actuators: A. Physical, vol. 157, no.2, pp. 303-309, 2011. [pdf]

[2]. Guoying Gu, Limin Zhu, Zhenhua Xiong and Han Ding, “Design of a distributed multiaxis motion control system using the IEEE-1394 bus,” IEEE Transactions on Industrial Electronics, vol. 57, no. 12, pp. 4209-4218, 2010. [pdf]

[1]. Guoying Gu and Limin Zhu, “High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model,” Review of Scientific Instruments, vol. 81, no. 8, p. 085104, 2010.[pdf]