The Bionics & Control Lab

UNIVERSITY OF HONG KONG MECHANICAL ENGINEERING

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UNIVERSITY OF HONG KONG MECHANICAL ENGINEERING

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Welcome to the BCLab
BIONICS AND CONTROL LAB of HKU
CONTACT US
BCLab News
Latest Lab News and Updates from Lab Members
26.79s, IT'S A NEW GUINNESS WORLD RECORD by the VAYU Project
February 22, 2020
It's been a looooong time (each "o" stands for a year, literally). The VAYU Project (THEVAYUPROJECT@facebook), a team of HKU students of ME, CE, and EE, sponsored by the BCL and supervised by Dr Wang, has finally got it. The TEAM-2020 (Tim, Ibnul, Zhong, Leo, etc etc etc) has finished the...
Postdoc Position in Soft Robotics
April 10, 2019
Fully funded Postdoctoral Fellow position is opening for application at the Bionics and Control Lab of HKU. The post is receiving candidates with PhD degree (already issued) from Mechanical/Electrical/Mathematics/Computer Science background, preferrably with previous experience in Soft Robotics...
Welcome New BCLers!
December 4, 2018
Yes, we are fully aware that new sem has started long ago. Simply too busy to update. Now, officially, WELCOME TO ALL NEW MEMBERS! ***Special Congats to Jing for her new adventure as PhD student @BCL*** @Core members: - Diana ZHONG Hua, on underwater robots - Grace GUO Yaoxin, on soro arms ...
Vision & Interests
Robots serve people. We are profoundly interested in bio-inspired soft and compliant robots in a variety of scenarios

SOFT ROBOTICS
Elastomeric or origamic structured, pneumatic or hydraulic actuated, inherently compliant robots
- Inspired by soft organisms in nature: a new approach to motion generation
- Inherently compliant, with minimal impact force, enabling safe interaction
- Ideally suitable for object-handling, human-interaction and nature-exploration
- On land, in water, even inside the human body
- Easily creats new motion forms otherwise not possible
- With careful design, performance on par with rigid robots
UNDERWATER ROBOTS
Replacing human divers in oceanic exploration
- Explore new/bio-inspired underwater propulsion methods
- Underwater robotic platform design and control
- Benthic specimen sampling using soft robotic manipulators
- Surveying and preservation of coral-ecosystems
MEDICAL ROBOTS
Improving healthcare service through robotic research
- Surgical robotic platforms and control algorithms
- Dental robots and automatic treatment stations
- Surgeon/dentist console + sensory feedback
- Rehabilitation devices for hand and upper limb
HUMAN-ROBOT INTERACTION
Teaching robots to behave and assist human beings
- Safe and compliant robot behavior
- Close-proximity human-robot interaction
- Design and fabrication of soft robotic manipulators and grippers
- Compliance-based control and behavioral shaping of task-capable soft robots
Research Projects
Ongoing and completed research projects

Underwater Soft Manipulation for Coral Ecosystem Preservation
In collaboration with Coral Biochemistry Lab @HKU and State Key Lab in Marine Pollution @CityU
- Soft manipulator and gripper for atraumatic underwater sampling
- Robotic platform for underwater locomotion and stabilization
- Surveying and mapping of corals and Hong Kong coral ecosystem
- In-situ monitoring, recording, and sampling of marine species
Fast Robot Fish with Caudal Fin Propulsion
Guinness World-record Attempt 2015 - 2020
- Single-motor caudal fin propulsion
- Fast linear speed underwater
- Self-contained with battery and electronics
- Wireless control
Close-proximity Human-Robot Collaborative Manufacturing
In collaboration with MIT, CS@HKU, IMSE@HKU, CityU, Lenovo, and Delta Elec.
- Safe and efficient soft manipulator design
- Compliant human-robot interaction
- Control and behavior shaping using soft manipulator
- Multi-object grasping with soft robotic grippers
Strong and Lightweight Multi-joint Soft-robotic Gripper
Champion of 3rd Soft Robotic Design and Gripping Challenge 2017
- Compliant soft joint design
- Hybrid structure for improved stability and rigidity
- Pneumatic drive with control electronics
- 5 kg payload at <0.5 kg self-weight
- 3D-printed and lab-assembled
Soft-robotic Manipulator
4- to 6- DOF robotic manipulator powered by soft actuators
- Compliant motion + impact safety
- Hybrid structure for improved stability and rigidity
- Pneumatic drive with control electronics
- Dexterity for manipulation tasks
- 3D-printed and lab-assembled
Soft-robotic Glove
Powered by soft actuators for rehab. and assistance
- 3D-printed wearable hand piece
- Soft actuator for compliance and adaptation
- Pneumatic control
- Flow-regulating valves for smooth motion
- Control and electronics
Surgical Robot
7-DOF dexterous robotic manipulator for laparoscopic procedures
- Large workspace, high dexterity
- Antagonistic design with advanced control
- Small diameter for incision convenience
- Surgeon's console for easy operation
Dental Robot
In collaboration with Faculty of Dentistry @HKU
- Control of filling material and solidification procedure
- Automatic dental filling and curing
- Manipulator design for dental surgery
- Automatic scanning and tele-manipulation through surgeon's console
Soft Actuators
Design and exploration of high-performance soft actuators
- High efficiency
- Linear force output
- Large output with low self-weight
- Compliance and adaptability
- Pneumatic or hydraulic control
Publications
Selected publications and patents (Full Publication List by Google Scholar)
Journal Articles
Yi, J., Chen, X., Song, C., Zhou, J., Liu, Y., Liu, S., & Wang, Z. (2018). Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions. IEEE Transactions on Robotics, DOI: 10.1109/TRO.2018.2871440
Chen, X., Yi, J., Li, J., Zhou, J., & Wang, Z. (2018). Soft-actuator-based robotic joint for safe and forceful interaction with controllable impact response. IEEE Robotics and Automation Letters, 3(4), 3505-3512.
Zhang, R., Shen, Z., & Wang, Z. (2018). Ostraciiform Underwater Robot With Segmented Caudal Fin. IEEE Robotics and Automation Letters, 3(4), 2902-2909.
Zhou, J., Yi, J., Chen, X., Liu, Z., & Wang, Z. (2018). BCL-13: A 13-DOF Soft robotic hand for dexterous grasping and in-hand manipulation. IEEE Robotics and Automation Letters, 3(4), 3379-3386.
Li, X., Wen, R., Shen, Z., Wang, Z., Luk, K. D. K., & Hu, Y. (2018). A Wearable Detector for Simultaneous Finger Joint Motion Measurement. IEEE Transactions on Biomedical Circuits and Systems.
Yi, J., Chen, X., Song, C., & Wang, Z., 2018. Fiber-Reinforced Origamic Robotic Actuator. Soft Robotics, 5(1), 81-92.
Yi, J., Chen, X. and Wang, Z., 2018. A Three-Dimensional-Printed Soft Robotic Glove With Enhanced Ergonomics and Force Capability. IEEE Robotics and Automation Letters, 3(1), pp.242-248.
Shen, Z., Na, J. and Wang, Z., 2017. A Biomimetic Underwater Soft Robot Inspired by Cephalopod Mollusc. IEEE Robotics and Automation Letters, 2(4), pp.2217-2223.
Zhou, J., Chen, S. and Wang, Z., 2017. A Soft-Robotic Gripper With Enhanced Object Adaptation and Grasping Reliability. IEEE Robotics and Automation Letters, 2(4), pp.2287-2293.
Wang, Z., Polygerinos, P., Overvelde, J.T., Galloway, K.C., Bertoldi, K. and Walsh, C.J., 2017. Interaction forces of soft fiber reinforced bending actuators. IEEE/ASME Transactions on Mechatronics, 22(2), pp.717-727.
Yang, Y., Chen, Y., Li, Y., Wang, Z. and Li, Y., 2017. Novel Variable-stiffness robotic fingers with built-in position feedback. Soft robotics, 4(4), pp.338-352.
Shen, Z., Yi, J., Li, X., Lo, M.H.P., Chen, M.Z., Hu, Y. and Wang, Z., 2016. A soft stretchable bending sensor and data glove applications. Robotics and biomimetics, 3(1), p.22.
Wang, Z., Chen, M.Z. and Yi, J., 2015. Soft robotics for engineers. HKIE Transactions, 22(2), pp.88-97.
Conference Proceedings
Zhou, J., Chen, X., & Wang, Z., 2018, Intuitive Control of Humanoid Soft-Robotic Hand BCL-13, HUMANOIDS 2018- IEEE RAS International Conference on Humanoid Robots, 2018.
Zhou, J., Chen, X., Li, J., Tian, Y., & Wang, Z., 2018, A soft robotic approach to robust and dexterous grasping, IEEE-RAS International Conference on Soft Robotics, 2018.
Li, J., Zhang, Y., Lam, YHW., Pow, EHN., Hsung, TC, & Wang, Z., 2018, Robotic System for Automatic Dental Restorations in Oral Cavity, 2018 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2018)
Zhou, J., Yi, J., & Wang, Z, 2018, A Rotational Tri-fingered Gripper for stable Adaptable Grasping, 2018 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2018)
Chen, X., Hu, T., Song, C., & Wang, Z., 2018, Analytical Solution to Global Dynamic Balance Control of the Acrobot, 2018 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2018), p. 1-6
Li, J., Lam, YHW., Pow, EHN., Hsung, TC, & Wang, Z., 2018, A Customizable, Compact Robotic Manipulator for Assisting Multiple Dental Procedures, IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2018), Singapore, 18-20 July 2018, p. 1-6
Zhou, J., Chen, X., Li, J., & Wang, Z., 2018, A Soft Robotic Gripper With Hybrid Structure Capable Of Robust And Dexterous Grasping, IEEE-RAS International Conference on Soft Robotics, 2018.
Gupta, S., Ng, JKT., Shen, Z. & Wang, Z., 2018, Development of High Performance Mechanical Robotic Fish, Advanced Maritime Engineering Conference (AMEC) & Pan Asian Association of Maritime Engineering Societies (PAAMES) Meeting, 2018
Chen, X., Peng, J., Zhou, J., Chen, Y., Wang, M.Y. & Wang, Z., 2017, May. A robotic manipulator design with novel soft actuators. In Robotics and Automation (ICRA), 2017 IEEE International Conference on (pp. 1878-1884). IEEE.
Zhang, H., Long, P., Zhou, D., Qian, Z., Wang, Z., Wan, W., Manocha, D., Park, C., Hu, T., Cao, C. & Chen, Y., 2016, August. Dorapicker: An autonomous picking system for general objects. In Automation Science and Engineering (CASE), 2016 IEEE International Conference on (pp. 721-726). IEEE.
Tian, Y., Wang, K., Yi, J. Wang, Z., & Chen, M.Z. (2016, August). “Introduction to modeling of the McKibben Pneumatic artificial muscle with end constraints,” IEEE
International Conference on Information and Automation, (IEEE ICIA 2016), Ningbo, China
Shen, Z., Yi, J., & Wang, Z. (2016, June). “A soft stretchable bending sensor and data glove applications,” IEEE International Conference on Real‐time Computing and Robotics (RCAR 2016), pp.88‐93, Angkor Wat, Cambodia.
Yi, J., Shen, Z., Song, C. & Wang, Z., 2016, June. A soft robotic glove for hand motion assistance. In Real-time Computing and Robotics (RCAR), IEEE International Conference on (pp. 111-116). IEEE.
Li, X., Su, H., Li, C., Wang, Z. & Chen, M.Z., 2015, December. Global bounded consensus of general nonidentical networks with distributed time-delays. In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on (pp. 6868-6873). IEEE.
Books and Book Chapters
Wang, Z., Liu, S., Peng, J. and Chen, M.Z., 2018. The Next-Generation Surgical Robots. In Surgical Robotics. InTech.
Patents
Hu, Y., Wen, R., Wang, Z. (2018) "Soft Robotic Glove for Rehabilitation", the University of Hong Kong, US Patent, Provisional filing May 2018
Zhou, J., Wang, Z. (2017) “A Soft Robotic Gripper with Enhanced Gripping Forces”, the University of Hong Kong, US Patent, Provisional filing December 2017
Peng, J., Wang, Z., Chen, M., Lam, J. (2016) “A flexible surgical robot with multiple degrees of freedom”, the University of Hong Kong, Invention patent, China, filing number 201611017518.1, November 2016
Wang, Z., Yi, J., Chen, M. (2016) “A Soft Robotic Muscle”, the University of Hong Kong, Invention patent, China, filing number 201611128443.4, December 2016
Peng, J., Wang, Z., Chen, M., Lam, J. (2016) “A flexible surgical robot with multiple degrees of freedom”, the University of Hong Kong, Utility patent, China, filing number 201621211265.7, November 2016
Wang, Z., Yi, J. , Chen, M. (2016) “A Soft Robotic Muscle”, the University of Hong Kong, Utility patent, China, filing number 201621354421.5, December 2016
Core Team Members
PI (Dr Zheng Wang), Current Research Students, and Full-time Staff

Dr Zheng WANG
Lab Director and PI
Assistant Professor
Dept. Mechanical Engineering, HKU
zwangski@hku.hk
Dr Rongwei WEN
Postdoc Fellow
Robotic Glove and Rehab.
Co-supervised w. Dr Y. Hu, Dept O&T HKU
Dr Xiaojiao CHEN
Postdoc Fellow
Robotic Control and Manipulation
Mr Zhong SHEN
RPG Student
Underwater Robots
Mr Runzhi ZHANG
RPG Student
Underwater Robots
Mr Liangliang WANG
RPG Student
Robotic Manipulation and Control
Ms Jing LI
RPG Student
Dental Robots and Robotic Manipulators
Ms Hua ZHONG
PhD Student
Underwater Robots and Control
Mr Tim NG
Research Assistant
Underwater Robots and Control
Mr Ibnul ALAM
Research Assistant
Underwater Robots and Control
Mr Yafei ZHAO
Research Assistant
Underwater Robots and Control
Current Students
List of Lab Alumni on Google Site

Sidhant GUPTA
Student Intern
Underwater Robot
Xiaodong LI (Neo)
PhD Student (Med)
Sensing Glove and Rehabilitation
(Jointly with Dr Y. Hu)
ZHU Zhi
MSc Student
Robotic Platform for Elderly Care
(Jointly with Dr C. Wu)
DUANMU Dehao
MSc Student
Soft Robotic Arm
(Jointly with Prof J. Lam)
WANG, Xiaojun
PhD Student (BioMed)
Soft Robotic Glove
(Jointly w. Dr Y. Hu)
ZHU, Fan
PhD Student (CS)
Soft Robotic Manipulation
(Jointly w. Prof. W. Wang)
Join BCLab
We always welcome brilliant, curious, and diligent young minds to join!
Fully-funded PhD studentship (Positions filled) - 2018/2019 Entry
First degree (BSc) in ME/Automation/Control/EEE, excellent academic record
Keenly interested in designing, developing, and controlling robots
Exceptional hands-on abilities
Logical thinking, and resilient spirit
English mastery: reading, reasoning, writing
Research Assistants (Positions filled) - Experience cutting-edge research while being able to support yourself
Vacancies are open for 2 Research Assistants in Robotics and Control (local and international)
Working on soft robotic manipulator project
1 preferably with ME/Precision Instrument background
1 preferably with EE/Control/CS background
Strong hands-on ability + good English for international research group
MSc/Capstone Student Projects and Interns (Year-round) - Perfect way to engage and get started
MSc Project at HKU Mechanical: multiple topics are available (content varies) for MSc student thesis projects, interested students please contact PI
Capstone Project: For ME and MedEng final year students, choose your capstone project from the wide range of topics, contact PI for details
Research Experience for Undergraduates (REU): ME UG students interested in research could use this course as a starting point
Student Intern: Unpaid research position to get involved in research work and gain valuable experience. Engage in one of our exciting projects!
Visitor and Postdoc - Exchange wisdom for new sparkles
Postdoc: positions are available from time to time, subject to funding availability, interested candidates please contact PI for details
Visiting scholar: if you have secured your own funding for exchange/short visit, please contact us for further discussion
Exchange student: subject to space allocation, we welcome exchange students to join us during the summer/winter period
Contact Us
Drop us a note or Email to get in touch
105 Yam Pai Building
The University of Hong Kong, Pokfulam Road, HKSAR, China
zheng.wang@ieee.org
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