Mon, 01 Jan 0001 00:00:00 +0000

Yanggang Feng

Robotics & Embodied AI @ Beihang University

ResearchGate Google Scholar Email

Isokinetic robot

Power-free isokinetic robot

Nature Communications, 2025.

CCTV News, Beihang News

Bedside isokinetic robot

IEEE Trans. on Robotics, 2025.

Beihang SMEA News

Robotic prosthesis

Energy regeneration

IEEE TRO, 2020, IEEE TMECH, 2023

Mon, 01 Jan 0001 00:00:00 +0000

OUR VISION:

Driven by robotics for humanity, we are unlocking science using engineering.

Isokinetic robot

Power-free isokinetic robot

Nature Communications, 2025.

CCTV , NSFC , Beihang

Bedside isokinetic robot

IEEE Trans. on Robotics, 2025.

Mon, 01 Jan 0001 00:00:00 +0000

News

2026 ▶

Jan 2026 Our paper "A hybrid assistive-resistive isokinetic training robot for full-cycle knee rehabilitation" has been published in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 34, pp. 1294–1304.

2025 ▶

Mar 2025 Our paper "Power-free knee rehabilitation robot for home-based isokinetic training" has been published in Nature Communications. The work was featured by CCTV, NSFC, and Beihang University.

Mar 2025 Our paper "A wearable isokinetic training robot for enhanced bedside knee rehabilitation" has been published in IEEE Transactions on Robotics, vol. 41, pp. 2460–2476. Coverage: Beihang-SMEA.

Mon, 01 Jan 0001 00:00:00 +0000

Open-source

Algorithms

Hardware

Algorithms

S2S-GACTRNN

Seq2Seq Gated and Adaptive Continuous-Time Recurrent Neural Network (S2S-GACTRNN) is proposed for walking gait generation at different speeds.

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People

Our

Alumni

Our

Yanggang Feng

Associate Professor @ Beihang University

Doctoral Students

Linhang Ju*

Sensing

Haoyang Wu*

Mechanical Engineering

Jiaxin Ren

Mechanical Engineering

Yizhuo Chen

Embodied AI

Master's Students

Yuebing Li

Automation

Ke Ma#

Haoxiang Jing

Motor Control

Ziyang Wang

Mechanical Engineering

Jiajun Huang

Optimization

Zhenwei Wen#

Rehabilitation Engineering

Jian Wang

Mechanical Engineering

Guangyang Xu

Automation

Undergraduate Students

Jingsong Yu

Mechanical Engineering

Ziheng Yang

Mechanical Engineering

* These students are co-supervised with Prof. W. Zhang.

# These students are co-supervised with Prof. X. Ding.

Master's Student Alumni

Jiawen Liu

China Development Bank

2025

Xingyu Hu*

Ph.D. at PKU & Beihang

2025

Hanze Jia*

ICBC

2024

Linhang Ju*

Ph.D. at Beihang

2023

Zhitao Ling*

HUAWEI

2023

Undergraduate Student Alumni

Jian Wang

Master's at Beihang

2025

Rui Zhang

Master's at Beihang

2025

Zhao Zhang

Master's at CAS

2025

Jiaju Zhang

Master's at Beihang

2025

Jiaxin Ren

Ph.D. at Beihang

2024

Tianyang Cao

Master's at Imperial College London

2024

Yufeng Na

Master's at Imperial College London

2024

Dinghao Xue

Master's at Beihang

2023

Shihui Song

Master student

2023

* These students are co-supervised with Prof. W. Zhang.

# These students are co-supervised with Prof. X. Ding.

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SELECTED PUBLICATIONS

[1]

Y. Feng^#*, H. Wu, J. Ren, W. Zhang, X. Jia, X. Liu, X. Hu, H. Jing, Y. Li, Y. Zhao, Z. Wang, X. Liang, J. Xu, Y. Shao, Q. Su, Y. Zhang, M. Zhou, K. Liu, Y. Nie, J. Wang, F. Yuan, L. Wang and X. Ding, "Power-free knee rehabilitation robot for home-based isokinetic training," Nature Communications, vol. 16, no. 2347, 2025. [PDF] [Movie S1] [Movie S2] [Movie S3]

[2]

Y. Feng^#*, X. Hu, Y. Li, K. Ma, J. Ren, Z. Zhou, F. Yuan, Y. Huang, L. Wang, Q. Wang, W. Zhang and X. Ding, "A wearable isokinetic training robot for enhanced bedside knee rehabilitation," IEEE Transactions on Robotics, vol. 41, pp. 2460-2476, 2025. [PDF] [Movie S1] [Movie S2]

[3]

Y. Feng, J. Mai, S. Agrawal and Q. Wang, "Energy regeneration from electromagnetic induction by human dynamics for lower-extremity robotic prostheses," IEEE Transactions on Robotics, vol. 36, no. 5, pp. 1442-1451, 2020. [PDF] [Movie S]

[4]

Y. Feng, J. Liu, W. Zhang, X. Ding and Q. Wang, "Maximum mechanical energy and mechanical-to-electrical energy conversion efficiency between robotic prostheses and humans," IEEE/ASME Transactions on Mechatronics, vol. 29, no. 3, pp. 2277-2289, 2024. [PDF]

[5]

Y. Feng and Q. Wang, "Combining push-off power and nonlinear damping behaviors for a lightweight motor-driven transtibial prosthesis," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 6, pp. 2512-2523, 2017. [PDF]

Journal

2026

[22]

Y. Zhang, D. Xue, B. Zhang, M. Shi, X. Nan, Y. Zhang, Q. Ge, Y. Zhang, Z. Wang, Y. Feng* and D. Wang*, "A systematic review of soft respiratory exoskeletons: assistance mechanisms, system architectures, and key technologies," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 34, pp. 1869-1884, 2026. [PDF]

[21]

H. Wu, W. Chen, L. Tuo, J. Ren, L. Ju, X. Hu, Y. Shao, D. Shi, L. Ruan, Y. Huang, B. Zhang, K. Wang, Y. Feng* and W. Zhang, "A hybrid assistive-resistive isokinetic training robot for full-cycle knee rehabilitation," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 34, pp. 1294-1304, 2026. [PDF]

2025

[20]

Y. Feng^#*, H. Wu^#, J. Ren, W. Zhang*, X. Jia, X. Liu, X. Hu, H. Jing, Y. Li, Y. Zhao, Z. Wang, X. Liang, J. Xu, Y. Shao, Q. Su, Y. Zhang, M. Zhou, K. Liu, Y. Nie, J. Wang, F. Yuan, L. Wang* and X. Ding*, "Power-free knee rehabilitation robot for home-based isokinetic training," Nature Communications, 16(2347), 2025.

[19]

Y. Feng^#*, X. Hu^#, Y. Li, K. Ma, J. Ren, Z. Zhou, F. Yuan, Y. Huang, L. Wang*, Q. Wang*, W. Zhang* and X. Ding*, "A wearable isokinetic training robot for enhanced bedside knee rehabilitation," IEEE Transactions on Robotics, vol. 41, pp. 2460-2476, 2025.

[18]

L. Ju, H. Jia, Y. Feng*, Y. Huang, Y. Shi, D. Shi, Y. Shao, F. Yuan, Y. Zhao, X. Ding and W. Zhang, "Inter-day grasping model generalization for prosthetic hand using soft optical sensing sleeve," Advanced Intelligent Systems, vol. 7, no. 5, pp. 1-14, 2025.

2024

[17]

2023

[16]

W. Zhang, L. Ju, H. Jia, X. Ding and Y. Feng*, "Semi-ring-optic-fiber (SROF) sensor-based abnormal gait recognition via monitoring muscle activation," IEEE Sensors Journal, Vol. 23, no. 17, pp. 19307-19317, 2023.

[15]

W. Zhang, H. Jia, L. Ju, Y. Shi, X. Ding and Y. Feng*, "Bending-sensitive optical waveguide sensor with carbon-fiber layer for monitoring grip strength," IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 31, pp. 1922-1932, 2023.

[14]

Y. Feng, J. Lin, H. Jia, H. Liu, X. Ding and W. Zhang, "Intentionally light-loss carbon-optic fiber (COF) twisted sensor for calf strength sensing via monitoring vastus medialis," IEEE Sensors Journal, vol. 23, no. 9, pp. 9271-9279, 2023.

[13]

W. Zhang, Z. Ling, S. Heinrich, X. Ding and Y. Feng*, "Walking speed learning and generalization using Seq2Seq gated and adaptive continuous-time recurrent neural network (S2S-GACTRNN) for a hip exoskeleton," IEEE/ASME Transactions on Mechatronics, vol. 28, no. 4, pp. 2375-2386, 2023.

2022

[12]

Y. Feng, D. Xue, L. Ju, W. Zhang and X. Ding, "Small-data-driven temporal convolutional capsule network for locomotion mode recognition of robotic prostheses," IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 30, pp. 2540-2548, 2022.

[11]

Y. Feng, C. Mao, W. Zhang and Q. Wang, "Gait-symmetry-based human-in-the-loop optimization for unilateral transtibial amputees with robotic prostheses," IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 3, pp. 744-753, 2022.

[10]

D. Shi, W. Zhang, L. Zhang, Y. Feng and X. Ding, "Joint-Angle Adaptive Coordination Control of a Serial-Parallel Lower Limb Rehabilitation Exoskeleton," IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 3, pp. 775-784, 2022.

2021 and PREVIOUS

[9]

[8]

[7]

Y. Feng and Q. Wang, "Adjusting ankle angle measurement based on a strain gauge bridge for powered transtibial prosthesis," Journal of Dynamic Systems, Measurement and Control-Transactions of the ASME, vol. 142, no. 7, pp. 1-10, 2020.

[6]

Y. Feng and Q. Wang, "Using one strain gauge bridge to detect gait events for a robotic transtibial prosthesis with nonlinear damping behaviors," Robotica, vol. 37, no. 11, pp. 1987-1997, 2019.

[5]

Y. Feng, W. Chen and Q. Wang, "A strain gauge based locomotion mode recognition method using convolutional neural network," Advanced Robotics, vol. 33, no. 5, pp. 245-263, 2019.

[4]

L. Chen, Y. Feng, B. Chen, Q. Wang and K. Wei, "Improving postural stability among people with lower-limb amputations by tactile sensory substitution," Journal of NeuroEngineering Rehabilitation, 18:159, pp. 1-14, 2021.

[3]

D. Xu, Y. Feng, J. Mai and Q. Wang, "Real-time on-board recognition of continuous locomotion modes for amputees with robotic transtibial prostheses," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 26, no. 10, pp. 1-11, 2018.

[2]

B. Chen, Y. Feng and Q. Wang, "Combining vibrotactile feedback with volitional myoelectric control for robotic transtibial prostheses," Frontiers in Neurorobotics, vol. 10, no. 8, pp. 1-14, 2016.

[1]

许东方, 冯仰刚, 麦金耿, 王启宁, "面向速度适应的动力小腿假肢蹬地时刻在线识别," 中国科学:技术科学, vol. 48, no. 12, pp. 1321-1330, 2018.

Conference

2025

[13]

K. Ma, W. Chen, L. Tuo, X. Hu, H. Wu, Y. Shao, D. Shi, K. Wang, C. Wang, T. Zhang, Y. Feng*, W. Zhang and X. Ding, "Trajectory error prediction of manipulator using Seq2Seq gated and adaptive continuous-time recurrent neural network (S2S-GACTRNN)," IEEE International Conference on Robotics and Biomimetics (ROBIO), Chengdu, China, 2025: 1-6. (Best Paper Award Finalist)

[12]

Z. Wang, H. Jing, J. Wang, J. Huang, D. Shi, Y. Shao, W. Zhang, K. Wang and Y. Feng*, "A cost-effective lightweight hip exoskeleton for material handling," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, 2025: 1-6.

2024

[11]

X. Hu, Y. Li, H. Wu, W. Zhang and Y. Feng*, "A series variable-stiffness joint for robot-assisted resistance training," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, 2024: 4658-4663.

[10]

L. Ju, H. Jia, Y. Shi, X. Ding, Y. Feng and W. Zhang, "Continuously estimate and control prosthetic grip force by an optical waveguide sensor," IEEE International Conference on Robotics and Automation (ICRA), Yohohama, Japan, 2024: 5317-5322.

2023

[9]

J. Zhang, X. Liu* and Y. Feng*, "Plugging energy regeneration improves braking torque at low speed instead of dynamic energy regeneration," IEEE/RAS/EMBS International Conference on Rehabilitation Robotics (ICORR), Singapore, 2023: 1-5.

[8]

H. Jia, H. Ma, Y. Cheng, L. Ju, Y. Feng* and W. Zhang*, "Spatial or temporal signal considered for gait recognition based on optic-fiber sensor," IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023: 1-6.

2021 and PREVIOUS

[7]

Y. Feng, B. Chen, K. Yuan and Q. Wang, "Robotic transtibial prosthesis with damping control improves amputee’s level-ground walking at different speeds," Proc. of the 18th International Conference on Climbing and Walking Robots, Hangzhou, China, 2015, pp. 19-26. (Best Technical Paper Award, First Prize)

[6]

Y. Feng and Yukie Nagai, "A Computational Approach to Interpersonal Synchronization: Our hypothesis based on predictive processing," The 8th Symposium of Japanese Society of Developmental Neuroscience, p. 27, November 23-24, Osaka, Japan, 2019.

[5]

Y. Feng, J. Zhu and Q. Wang, "A strain gauge based calibration method for ankle joint angle measurement in powered transtibial prosthesis," RSS Workshop on Human-Centered Robotics: Interaction, Physiological Integration and Autonomy, Cambridge, USA, 2017.

[4]

Y. Feng, J. Zhu and Q. Wang, "Metabolic cost of level-ground walking with a robotic transtibial prosthesis combining push-off power and nonlinear damping behaviors: preliminary results," Proc. of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, USA, 2016, pp. 5063-5066.

[3]

Y. Feng, J. Zhu and Q. Wang, "Adding push-off power to a robotic transtibial prosthesis with nonlinear damping behaviors," Proc. of the 19th International Conference on Climbing and Walking Robots, London, UK, 2016, pp. 26-33.

[2]

Y. Feng, B. Chen, T. Huang and Q. Wang, "Walking metabolic cost of transtibial amputee at slow speed using robotic prosthesis with damping behaviors," Dynamic Walking Conference, Columbus, USA, 2015.

[1]

G. Chen, Z. Zhou, Y. Feng, R. Wang, N. Wang and Q. Wang, "Improving the safety of ankle-foot rehabilitation system with hybrid control," Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Busan, Korea, 2015, pp. 700-705.

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Associate Professor

Yanggang Feng

Associate Professor of Mechanical Engineering and Automation

Beihang University

Associate Editor, IEEE Trans. on Neural Systems and Rehabilitation Engineering

Yanggang Feng is an Associate Professor in the School of Mechanical Engineering and Automation at Beihang University. His research focuses on robotics, specifically wearable robots, rehabilitation robots (with a focus on knee rehabilitation), exoskeletons, and embodied AI. He is particularly interested in the design and control of electro-hydraulic servo and damping systems for robotic applications.