Soft Robotics and Biodesign Lab

2024

Zequn Shen, Jieji Ren, Ningbin Zhang, Jinhao Li, and Guoying Gu*
Hierarchically-interlocked, three-axis soft iontronic sensor for omnidirectional shear and normal forces [pdf][website]
Advanced Materials Technologies, Early access, DOI: 10.1002/admt.202401626, Oct. 21, 2024.

Miao Feng, Jianing Sun, Dezhi Yang, and Guoying Gu*
Characterization and modeling of fabric-based pneumatic actuators with asymmetric chambers for soft gloves [pdf] [website]
IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 10589-10596, 2024.

Xingyu Chen, Jieji Ren, Guoying Gu, and Jiang Zou*
Dynamic model based neural implicit embedded tracking control approach for dielectric elastomer actuators with rate-dependent viscoelasticity [pdf] [website]
IEEE Robotics and Automation Letters, vol. 9, no. 10, pp. 9031-9038, 2024.

Yu Rong and Guoying Gu*
ANCF-based dynamic modeling of variable curvature soft pneumatic actuators with experimental verifications [pdf] [website]
Smart Materials and Structures, vol. 33, no. 9, article 095007, 2024.

Feifei Chen*, Shitong Chen, Yiqiang Wang, Dechen Li, Zenan Song, Guoying Gu
Multimaterial soft gripper design with dual-mode pinches for grasping in confined spaces [pdf] [website]
IEEE/ASME Transactions on Mechatronics, Early access, DOI: 10.1109/TMECH.2024.3422485, Jul. 16, 2024.

Xinjia Huang, Zihao Yuan, Xinyu Yang, and Guoying Gu*
Precise control of soft robots amidst uncertain environmental contacts and forces [pdf] [website]
IEEE Transactions on Robotics, vol. 40, pp. 3565-3580, 2024.

Yu Rong and Guoying Gu*
Vision-based real-time shape estimation of self-occluding soft parallel robots using neural networks [pdf] [website]
IEEE Robotics and Automation Letters, vol. 9, no. 8, pp. 7349-7356, 2024.

Xinjia Huang, Yu Rong, and Guoying Gu*
High-precision dynamic control of soft robots with the physics-learning hybrid modeling approach [pdf] [website]
IEEE/ASME Transactions on Mechatronics, Early access, DOI: 10.1109/TMECH.2024.3403151, Jun. 13, 2024.

Xinyu Yang, Ningbin Zhang, Xinjia Huang, Rong Bian, Miao Feng, Xiangyang Zhu*, and Guoying Gu*.
Multidirectional bending soft pneumatic actuator with fishbone-like strain-limiting layer for dexterous manipulation [pdf] [website]
IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3815-3822, 2024.

Yi Zhao, Chen Chen, Baoyang Lu, Xiangyang Zhu*, and Guoying Gu*
All 3D-printed soft high-density surface electromyography electrode arrays for accurate muscle activation mappingand decomposition [pdf] [website]
Advanced Functional Materials, vol. 34, no. 14, article 2312480, 2024.

Jiang Zou#, Shakiru Olajide Kassim#, Jieji Ren, Vahid Vaziri, Sumeet S. Aphale and Guoying Gu*
A generalized motion control framework of dielectric elastomer actuators: dynamic modeling, sliding-mode control and experimental evaluation [pdf] [website]
IEEE Transactions on Robotics, vol. 40, pp. 919-935, 2024.

Dong Wang#, Chengru Jiang#, and Guoying Gu*.
Modeling and design of lattice-reinforced pneumatic soft robots [pdf] [website]
IEEE Transactions on Robotics, vol. 40, pp. 606-623, 2024.

Jinqiang Wang, Dong Wang*, Le Dong, Mengjie Zhang, Guoying Gu
Analytical modeling and inverse design of centimeter-scale hard-magnetic soft robots [pdf] [website]
IEEE Transactions on Automation Science and Engineering, vol. 21, no. 4, pp. 5558-5569, 2024.

Dezhi Yang, Miao Feng, and Guoying Gu*.
High-stroke, high-output-force, fabric-lattice artificial muscles for soft robots [pdf] [video] [website]
Advanced Materials, vol. 36, no. 2, article 2306928, 2024.

Haipeng Xu, Yu Rong, Jieji Ren, Ningbin Zhang, Yi Zhao, Xinyu Yang, Zhenpu Zhu, and Guoying Gu*.
A learning-based sensor array for untethered soft prosthetic hand aiming at restoring tactile sensation [pdf] [website]
Advanced Intelligent Systems, vol. 6, no. 10, article 2300221, 2024.

2023

Feifei Chen#*, Zenan Song#, Shitong Chen, Guoying Gu, and Xiangyang Zhu.
Morphological design for pneumatic soft actuators and robots with desired deformation behavior [pdf] [website]
IEEE Transactions on Robotics, vol. 39, no. 6, pp. 4408–4428, 2023.

Peinan Yan, Jiang Zou, Jianglong Guo*, Jinsong Leng, Guoying Gu*
Rapid de-electroadhesion with exponential decay alternating voltages [pdf] [website]
IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8122-8127, 2023.

Yu Rong and Guoying Gu*.
Deep transfer learning-based adaptive gesture recognition of a soft e-skin patch with reduced training data and time [pdf] [website]
Sensors and Actuators A: Physical, vol. 363, no. 1, article 114693, 2023.

Miao Feng, Dezhi Yang, Lei Ren, Guowu Wei, Guoying Gu*.
X-crossing pneumatic artificial muscles [pdf] [website]
Science Advances, vol. 9, no. 38, article eadi7133, 2023.

Jinhao Li#, Jie Cao#, Baoyang Lu*, Guoying Gu*.
3D-printed PEDOT:PSS for soft robotics [pdf] [website]
Nature Reviews Materials, vol. 6, no. 3, pp. 305-317, 2023

Dong Wang#*, Baowen Zhao#, Xinlei Li, Le Dong, Mengjie Zhang, Jiang Zou and Guoying Gu*.
Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design [pdf] [website]
Nature Communications, vol. 14, article 5067, 2023.

Tao Zhou, Hyunwoo Yuk*, Faqi Hu, Jingjing Wu, Fajuan Tian, Heejung Roh, Zequn Shen, Guoying Gu, Jingkun Xu, Baoyang Lu*, and Xuanhe Zhao*.
3D printable high-performance conducting polymer hydrogel for all-hydrogel bioelectronic interfaces [pdf] [website]
Nature Materials, vol. 22, no. 7, pp. 895-902, 2023.

Guoying Gu*, Ningbin Zhang, Chen Chen, Haipeng Xu, and Xiangyang Zhu.
Soft robotics enables neuroprosthetic hand design [pdf] [website]
ACS Nano, vol. 17, no. 11, pp. 9661-9672, 2023.

Miao Feng, Dezhi Yang, Carmel Majidi, Guoying Gu*.
High-speed and low-energy actuation for pneumatic soft robots with internal exhaust air recirculation [pdf] [website]
Advanced Intelligent Systems, vol. 5, no. 4, article 2200257, 2023.

Dong Wang, Jinqiang Wang, Zequn Shen, Chengru Jiang, Jiang Zou, Le Dong, Nicholas X. Fang*, and Guoying Gu*.
Soft actuators and robots enabled by additive manufacturing [pdf] [website]
Annual Review of Control, Robotics, and Autonomous Systems, vol. 6, pp. 31-63, 2023.

Weicheng Huang, Miao Feng, Dezhi Yang, Guoying Gu*.
Low-resistance, high-force, and large-rom fabric-based soft elbow exosuits with adaptive mechanism and composite bellows [pdf] [website]
Science China Technological Sciences, vol. 66, no. 1, pp. 24-32, 2023.

Dong Wang*, Le Dong, Guoying Gu*.
3D printed fractal metamaterials with tunable mechanical properties and shape reconfiguration [pdf] [website]
Advanced Functional Materials, vol. 33, no. 1, article 2208849, 2023.

Guoying Gu#*, Ningbin Zhang#, Haipeng Xu, Shaoting Lin, Yang Yu, Guohong Chai, Lisen Ge, Houle Yang, Qiwen Shao, Xinjun Sheng, Xiangyang Zhu#*, and Xuanhe Zhao#*.
A soft neuroprosthetic hand providing simultaneous myoelectric control and tactile feedback [pdf] [video] [website]
Nature Biomedical Engineering, vol. 7, no. 4, pp. 589-598, 2023.

2022

Haipeng Xu, Guohong Chai, Ningbin Zhang, Guoying Gu*.
Restoring finger-specific tactile sensations with a sensory soft neuroprosthetic hand through electrotactile stimulation [pdf]
Soft Science, vol. 2, no. 4, p. 19, 2022. (Selected as the Cover of this Issue)

Peiwei Zhou, Ningbin Zhang, Guoying Gu*.
A biomimetic soft-rigid hybrid finger with autonomous lateral stiffness enhancement [pdf]
Advanced Intelligent Systems, vol. 4, no. 12, article 2200170, 2022.

Jiang Zou, James D. J. MacLean, Jieji Ren, Sumeet S. Aphale, Guoying Gu*.
Proxy-based sliding-mode tracking control of dielectric elastomer actuators through eliminating rate-dependent viscoelasticity [pdf]
Smart Materials and Structures, vol. 31, no. 10, article 104002, 2022.

Zequn Shen, Zhilin Zhang, Ningbin Zhang, Jinhao Li, Peiwei Zhou, Faqi Hu, Yu Rong, Baoyang Lu*, Guoying Gu*.
High-stretchability, ultralow-hysteresis conducting polymer hydrogel strain sensors for soft machines [pdf][video]
Advanced Materials, vol. 34, no. 32, article 2203650, 2022.

Xinjia huang, Xiangyang Zhu, and Guoying Gu*.
Kinematic modeling and characterization of soft parallel robots [pdf] [video]
IEEE Transactions on Robotics, vol. 38, no. 6, pp. 3792-3806, 2022.

Yifan Zhang#, Dezhi Yang#, Peinan Yan, Peiwei Zhou, Jiang Zou, and Guoying Gu*.
Inchworm inspired multimodal soft robots with crawling, climbing, and transitioning locomotion [pdf] [video]
IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1806-1819, 2022.

Le Dong, Dong Wang*, Jinqiang Wang, Chengru Jiang, Hui Wang, Biao Zhang*, Mao See Wu, and Guoying Gu*.
Modeling and Design of Periodic Polygonal Lattices Constructed from Microstructures with Varying Curvatures [pdf]
Physical Review Applied, vol. 17, no. 4, pp. 044032, 2022.

Ningbing Zhang, Yi Zhao, Guoying Gu*, and Xiangyang Zhu.
Synergistic control of soft robotic hands for human-like grasp postures [pdf]
Science China Technological Sciences, vol. 65, no. 3, pp. 553-568, 2022.

2021

Chengru Jiang, Dong Wang*, Baowen Zhao, Zhongkun Liao, and Guoying Gu*.
Modeling and inverse design of bio-inspired multi-segment pneu-net soft manipulators for 3D trajectory motion [pdf]
Applied Physics Reviews, vol. 8, no. 4, article 041416, 2021.

Zequn Shen, Xiangyang Zhu, Carmel Majidi*, and Guoying Gu*.
Cutaneous ionogel mechanoreceptors for soft machines, physiological sensing, and amputee prostheses. [pdf] [video]
Advanced Materials, vol. 33, no. 38, article 2102069, 2021.

Guoying Gu*, Herbert Shea, Stefan Seelecke, Gursel Alici, and Gianluca Rizzello.
Editorial: Soft Robotics Based on Electroactive Polymers. [pdf]
Frontiers in Robotics and AI, vol. 8, article 676406, 2021.

Shitong Chen, Feifei Chen*, Zizheng Cao, Yusheng Wang, Yunpeng Miao, Guoying Gu, and Xiangyang Zhu.
Topology optimization of skeleton-reinforced soft pneumatic actuators for desired motions. [pdf]
IEEE/ASME Transactions on Mechatronics, vol. 26, no. 4, pp. 1745-1753, 2021.

Yichi Luo#, Jiang Zou#, and Guoying Gu*.
Multi-material pneumatic soft actuators and robots through a planar laser cutting and stacking approach. [pdf]
Advanced Intelligent Systems, vol. 3, no. 10, article 2000257, 2021.

Jiang Zou, Miao Feng, Ningyuan Ding, Peinan Yan, Haipeng Xu, Dezhi Yang, Nicholas X. Fang, Guoying Gu*, and Xiangyang Zhu*.
Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication. [pdf]
National Science Review, vol. 8, no. 10, article nwab048, 2021. (Selected as the Cover of this Issue)

Feifei Chen*, Yunpeng Miao, Guoying Gu, and Xiangyang Zhu.
Soft twisting pneumatic actuators enabled by freeform surface design. [pdf]
IEEE Robotics and Automation Letters, vol. 6, no.3, pp. 5253-5260, 2021.

Miao Feng, Dezhi Yang, and Guoying Gu*.
High-force fabric-based pneumatic actuators with asymmetric chambers and interference-reinforced structure for soft wearable assistive gloves. [pdf] [video]
IEEE Robotics and Automation Letters, vol. 6, no.2, pp. 3105-3111, 2021.

Xinjia Huang, Jiang Zou, and Guoying Gu*.
Kinematic modeling and control of variable curvature soft continuum robots. [video][pdf]
IEEE/ASME Transactions on Mechatronics, vol. 26, no.6, pp. 3175 - 3185, 2021.

Kai Liu, Lin Cheng, Ningbin Zhang, Hui Pan, Xiwen Fan, Guangfeng Li, Zhaoming Zhang, Dong Zhao, Jun Zhao, Xue Yang, Yongming Wang, Ruixue Bai, Yuhang Liu, Zhiyuan Liu, Sheng Wang, Xinglong Gong, Zhenan Bao, Guoying Gu*, Wei Yu* and Xuzhou Yan*.
Biomimetic impact protective supramolecular polymeric materials enabled by quadruple h-bonding. [pdf]
Journal of the American Chemical Society, vol. 143, no. 2, pp. 1162-1170, 2021.

2020

Xinjun Sheng*, Zhun Qin, Haipeng Xu, Xiaokang Shu, Guoying Gu and Xiangyang Zhu.
Soft ionic-hydrogel electrodes for electroencephalography signal recording. [pdf]
Science China Technological Sciences, vol. 64, no. 2, pp. 273-282, doi: 10.1007/s11431-020-1644-6.

Zequn Shen, Feifei Chen, Xiangyang Zhu, Ken-Tye Yong* and Guoying Gu*.
Stimuli-responsive functional materials for soft robotics. [pdf]
Journal of Materials Chemistry B, vol. 8, no. 39, pp. 8972 - 8991, 2020.

Guoying Gu*, Dong Wang, Lisen Ge and Xiangyang Zhu.
Analytical modeling and design of generalized pneu-net soft actuators with 3D deformations. [pdf]
Soft Robotics, vol. 8, no. 4, pp. 462-477, doi: 10.1089/soro.2020.0039.

Xinjun Sheng, Haipeng Xu, Ningbing Zhang, Xiangyang Zhu and Guoying Gu*.
Multi-material 3D printing of caterpillar-inspired soft crawling robots with the pneumatically bellow-type body and anisotropic friction feet. [pdf]
Sensors and Actuators A: Physical, vol. 316, article 112398, 2020.

Fan Zhang, Shice Wei, Weiwei Wei, Jiang Zou, Guoying Gu, Dongqing Wu, Shuai Bi* and FanZhang*.
Trimethyltriazine-derived olefin-linked covalent organic framework with ultralong nanofibers. [pdf]
Science Bulletin, vol. 65, no. 19, pp. 1659-1666, 2020.

Sujie Chen, Ming Li, Yukun Huan, Haipeng Xu, Guoying Gu and Xiaojun Guo*.
Matrix addressed flexible capacitive pressure sensor with suppressed crosstalk for artificial electronic skin. [pdf]
IEEE Transactions on Electron Devices, vol. 67, no. 7, pp. 2940-2944, 2020.

Ningbin Zhang, Lisen Ge, Haipeng Xu, Xiangyang Zhu*, and Guoying Gu*.
3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands. [pdf]
Sensors & Actuators: A. Physical, vol. 312, pp: 112090, 2020.

Dong Wang, Haipeng Xu, Jinqiang Wang, Chengru Jiang, Xiangyang Zhu, Qi Ge, and Guoying Gu*.
Design of 3D printed programmable horseshoe lattice structures based on a phase-evolution model. [pdf]
ACS Applied Materials & Interfaces, vol. 12, no. 19, pp. 22146-22156, 2020.

Dong Wang*, Ling Li, Biao Zhang, Yuan-Fang Zhang, Mao See Wu, Guoying Gu*, and Qi Ge*.
Effect of temperature on the programmable helical deformation of a reconfigurable anisotropic soft actuator. [pdf]
International Journal of Solids and Structures, vol. 199, pp. 169-180, 2020.

Jianshu Zhou, Yonghua Chen*, Yong Hu, Zheng Wang, Yunquan Li, Guoying Gu and Yunhui Liu.
Adaptive variable stiffness particle phalange for robust and durable robotic grasping. [pdf]
Soft Robotics, vol. 7, no. 6, pp. 743-757, 2020.

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. [pdf]
ACS Applied Bio Materials, vol. 3, no. 5, pp. 2617-2625, 2020.

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. [pdf]
Science China Technological Sciences, vol. 63, no. 10, pp. 2063-2072, 2020.

Haipeng Xu, Zequn Shen and Guoying Gu*.
Performance characterization of ionic-hydrogel based strain sensors. [pdf]
Science China Technological Sciences, vol. 63, no. 10, pp. 2063-2072, 2020.

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. [pdf]
Soft Robotics, vol. 7, no. 5, pp. 583-596, 2020.

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

2019

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. [pdf]
Science Advances, vol. 5, no. 10, article eaax4961, 2019.

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

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

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. [pdf][video]
IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1150-1165, 2019.

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

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. [pdf]
IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 647 - 657, 2019.

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. [pdf]
Advanced Materials Technology, vol. 4, no. 7, article 1800681, 2019.

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. [pdf]
IEEE/ASME Transactions on Mechatronics, vol. 24, no. 3, pp. 935-946, 2019.

Linlin Li, Guoying Gu and Limin Zhu*.
Fractional repetitive control of nanopositioning stages for tracking high-frequency periodic inputs with nonsynchronized sampling. [pdf]
Review of Scientific Instruments, vol. 90, no. 5, article 055108, 2019.

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. [pdf][video]
Soft Robotics, vol. 6, no. 3, pp. 368-376, 2019.

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. [pdf]
IEEE/ASME Transactions on Mechatronics, vol. 24, no. 2, pp. 666-676, 2019.

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. [pdf][video]
Advanced Functional Materials, vol. 29, no. 15, article 1806698, 2019.

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

2018

Guoying Gu*#, Jiang Zou#, Ruike Zhao, Xuanhe Zhao* and Xiangyang Zhu*.
Soft wall-climbing robots. [pdf][video]
Science Robotics, vol. 3, no.25, eaat2874, 2018.

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. [pdf]
IEEE/ASME Transactions on Mechatronics, vol. 23, no. 6, pp. 2794-2804, 2018.

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

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

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. [pdf]
International Journal of Intelligent Robotics and Applications, vol. 2, no. 3, pp. 313-338, 2018.

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

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

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. [pdf]
Mechatronics, vol. 52, pp. 49-57, 2018.

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. [pdf]
Sensors & Actuators: A. Physical, vol. 273, pp. 285-292, 2018.

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

2017

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

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

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

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

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

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

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. [pdf]
Bioinspiration & Biomimetics, vol. 12, no. 2, article 025003, 2017.

Guoying Gu*, Jian Zhu, Limin Zhu and Xiangyang Zhu.
A survey on dielectric elastomer actuators for soft robots. [pdf]
Bioinspiration & Biomimetics, vol. 12, no.1, article 011003, 2017.

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

2016

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. [pdf]
Sensors & Actuators: A. Physical, vol. 244, pp. 95-105, 2016.

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

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. [pdf]
IEEE Transactions on Industrial Informatics, vol. 12, no. 3, pp. 980-990, 2016.

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

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

2015

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. [pdf]
Applied Physics Letters, vol. 107, no. 4, article 042907, 2015.

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

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

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. [pdf]
IET Control Theory & Applications, vol. 9, no. 12, pp. 1869-1877, 2015.

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. [pdf]
Smart Materials and Structures, vol. 24, no. 12, article 125006, 2015.

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

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

2014

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

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

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

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

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

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

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

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

2013

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

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

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

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

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

2010-2012

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

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

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

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

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

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