个人基本情况
姓名：郭朝
学历：工学博士
出生年月：1982年6月
Email：guozhao@whu.edu.cn
学习及工作经历
2000.9-2007.6 江苏大学 机械电子工程 工学学士/硕士
2007.9-2012.6 上海交通大学 机械电子工程 工学博士
2012.9-2015.12 新加坡国立大学 工学院生物医学工程系 先进机器人中心 Research Fellow
2015.12-2017.11 武汉大学 动力与机械学院 讲师/珞珈青年学者
2017.12-至 今 武汉大学 动力与机械学院 副研究员
主要研究方向
外骨骼机器人，神经康复医疗机器人，柔性执行器的仿生设计与控制，人机交互控制与人工智能技术。
简介
郭朝，项目主持人，武汉大学动力与机械学院，副研究员。2012年博士毕业于上海交通大学机器人研究所，后于2012年至2015年在新加坡国立大学从事博士后科研工作，并在巴黎第六大学、香港中文大学、意大利技术研究院（IIT）短期访学，2015年12月入职武汉大学，并先后入选武汉大学珞珈青年学者，湖北省楚天学子。申请人近十年一直从事机器人基础理论及关键技术研究，主持了国家自然科学基金青年基金、江苏省自然科学基金青年基金、湖北省自然科学基金、武汉市科技晨光计划、武汉大学人才基金等课题，在机器人柔性驱动与传感技术等方面取得了重要进展。发表了SCI/EI检索论文40余篇，包括本领域知名期刊IEEE/ASME TMECH, IEEE JBHI, IEEE TCST, IEEE TRO, MMT,《科学通报》,《中国科学-技术科学》等，撰写了英文专著章节2章；多次参加IEEE ICRA/IROS等机器人国际学术会议并做口头报告，论文在IEEE ICORR、IEEE ROBIO、ICARM 获最佳论文提名奖。担任 Frontiers in Neurorobotics 期刊特刊（Special Issue）客座编辑。
学术成果
期刊论文（第一/通讯作者）
[1] Zhang Qiang, Sun Yang Ding, Qian Wei, Xiao Hui Xiao* and Guo Zhao*, “modeling and control of a cable-driven rotary series elastic actuator for upper limb rehabilitation robot”, Frontiers in neurorobotics, 2019 (minor revision)
[2] Guo Zhao, Sun Jiantao, Ling Jie, Pan Yongping and Xiao Xiaohui, “Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations”, Front. Neurorobot. 13:35. doi: 10.3389/fnbot.2019.00035
[3] Wu Yao, Yao Daojin, Guo Zhao*, and Xiao Xiaohui*, “Adaptive stiffness control of passivity-based biped robot on compliant ground using double deep Q network”, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2019, 233(6):2177-2189.
[4] Guo Zhao, Xiao Xiaohui, Yu Haoyong*, “Design and Evaluation of a Robotic Omni-directional Hospital Bed Mover for Patient Transfer”, IEEE Journal of Biomedical and Health Informatics, 2018, 22(6):1775-1785.
[5] Sun Jiantao, Guo Zhao*, Zhang yubin, Xiao Xiaohui*, Tan Jianrong, “A novel Design of a Compact Serial Variable Stiffness Actuator (SVSA) Based on an Archimedean Spiral Relocation Mechanism”, IEEE/ASME Transaction on Mechatronics, 2018, 23(5): 2121-2131.
[6] Sun Jiantao, Guo Zhao*, Sun Dingyang, He Siyu, Xiao Xiaohui*, “Design, modeling and control of a Compact energy efficient Serial Variable Stiffness Actuator (SVSA-II)”, Mechanism and Machine Theory, 2018, 130: 123-136.
[7] Wu Yao, Yao Daojin, Xiao Xiaohui*, and Guo Zhao*, “Robust control of passivity-based biped robot on compliant ground using deep Q network”, Journal of Intelligent & Fuzzy Systems 2018, 08.
[8] Guo Zhao, Pan Yongping*, Sun Tairen, Zhang yubin, Xiao Xiaohui, “Adaptive Neural Network Control of Serial Variable Stiffness Actuators”, Complexity, 2017, pp.1-9.
[9] Guo Zhao, Bei Racheal, Mun Kyung-Ryoul, Yu Haoyong*, “Experimental evaluation of a novel robotic hospital bed mover,” Applied Ergonomics, 2017, 65.389-397.
[10] Pan Yongping, Guo Zhao, li Xiang, Yu Haoyong*, “Output Feedback Adaptive Neural Control of A compliant Differential SMA Actuator”, IEEE Transactions on Control Systems Technology, 2017, 25 (6), 2202-2210.
[11] Chen Gong, Qi Peng, Guo Zhao, and Yu Haoyong*, “Gait-Event-Based Synchronization Method for Gait Rehabilitation Robots via a Bio-inspired Adaptive Oscillator”, IEEE Transactions on Biomedical Engineering, 2017, 64 (6):1345-1356.
[12] Mun Kyung-Ryoul, Lim Su Bin, Guo Zhao, Yu Haoyong*, “Biomechanical Effects of Body Weight Support with a Novel Robotic Walker for Over-Ground Gait Rehabilitation,” Medical & Biological Engineering & Computing, 2017, 55:315-326.
[13] Mun Kyung-Ryoul, Yeo Brandon Bao Sheng, Guo Zhao, Chung Soon Cheol, Yu Haoyong*, “Resistance training using a novel robotic walker for over-ground gait rehabilitation: a preliminary study on healthy subjects”, Medical & Biological Engineering & Computing,2017, 55(11): 1873-1881.
[14] Mun, Kyung-Ryoul, Guo Zhao, Yu Haoyong*, “Restriction of pelvic lateral and rotational motions alters lower limb kinematics and muscle activation pattern during over-ground walking”, Medical & Biological Engineering & Computing, 2016.1-9.
[15] Chen Gong, Qi Peng, Guo Zhao, Yu Haoyong, “Mechanical Design and Evaluation of a Compact Portable Knee-Ankle-Foot Robot for Gait Rehabilitation,” Mechanism and Machine Theory, 2016,103:51-64.
[16] Guo Zhao, Pan Yongping, Wee Liang-Boon, Yu Haoyong*, “Design and control of a novel compliant differential shape memory alloy actuator”. Sensors and Actuators A: Physical, 2015, 04(11):1-12.
[17] Peng Yuxin, Cao Jie, Guo Zhao, Yu Haoyong*, “A linear actuator for precision positioning of dual objects”, Smart Material and Structure, 2015, 24(12):1-9.
[18] Yu Haoyong, Chen Gong, Huang Sunan, Pan Yongping, and Guo Zhao, “Human-Robot Interaction Control of Rehabilitation Robots with Series Elastic Actuators”, IEEE Transactions on Robotics, 2015, 31(5):1089-1100.
[19] Guo Zhao, Yu Haoyong, Yin Yuehong*, “Developing a mobile lower limb robotic exoskeleton for gait rehabilitation”.Transactions of ASME-Journal of medical devices, 2014, 8(4).
[20] Chen gong, Chan Chow Khuen, Guo Zhao, & Yu Haoyong*, “A Review on Lower Extremity Assistive Robotic Exoskeleton in Rehabilitation Therapy”, Critical Reviews™ in Biomedical Engineering, 2013,41(4-5). 343-363.
[21] Guo Zhao, Yin Yuehong*. “A dynamic model of skeletal muscle based on collective behavior of myosin motors-Biomechanics of skeletal muscle based on working mechanism of myosin motors (I)”, Science China-Technological Sciences, 2012, 55(6):1589-1595; 郭朝, 殷跃红. 基于分子马达集体运行机制的骨骼肌收缩动态力学模型–基于分子马达运行机制的骨骼肌生物力学原理(I). 中国科学：技术科学，2012，42(6):672-679.
[22] Yin Yuehong*, Guo Zhao, Chen Xing, Fan Yuanjie. “Studies on biomechanics of skeletal muscle based on the working mechanism of myosin motors: An overview”, Chinese Science Bulletin, 2012, 57 (35): 4533-4544.殷跃红*, 郭朝, 陈幸, 范渊杰. 基于分子马达运行机制的骨骼肌生物力学原理研究进展. 科学通报. 2012,57(30): 2794-2805.
[23] Yin Yuehong*, Guo Zhao. “Collective mechanism of molecular motors and a dynamic mechanical model for sarcomere”, Science China-Technological Sciences, 2011, 54: 2130-2137.；殷跃红*,郭朝. 分子马达集体运行机制及肌小节动态力学模型. 中国科学：技术科学, 2011, 41(11):1533-1540.
[24] Fan Yuanjie, Guo Zhao, Yin Yuehong*. “SEMG-Based Neuro-Fuzzy controller for a parallel ankle exoskeleton with proprioception”, International Journal of Robotics and Automation, 2011, 26 (4): 450-460.
[25] Guo Zhao, Yin Yuehong*. “Coupling mechanism of multi-force interactions in the myosin molecular motor”, Chinese Science Bulletin, 2010, 55 (31):3538-3544; 郭朝, 殷跃红. 肌球蛋白分子马达的多力场耦合机理分析. 科学通报. 2010, 55(27-28):2675-2682.
[26] 孙剑韬，周江琛，郭朝*，肖晓晖，（2018.07）面向柔性机器人的对称式串联变刚度驱动器设计，华中科技大学学报.
[27] 孙定阳，沈浩，郭朝*，肖晓晖，2019.06，柔性绳驱动上肢康复外骨骼机器人设计，机器人.
会议论文
[1] Zhao Guo, Jiantao Sun, Jie Ling, Tairen Sun, Yongping Pan, and Xiaohui Xiao, “Robust Control of a Serial Variable Stiffness Actuator Based on Nonlinear Disturbance Observer (NDOB)”, 2018 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) (Best Conference Paper Finalist)
[2] Jie Ling, Zhao Feng, Min Ming, Zhao Guo and Xiaohui Xiao*, “Integrating Damping Control with Iterative Learning Control for Fast and Precise Scanning of Nanopositioners: A TITO Design”, 2018 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM).
[3] Sun Jiantao, Zhang yubin, Zhang cong, Guo Zhao*, Xiao Xiaohui. “Mechanical design of a compact novel variable stiffness actuator based on level mechanism”, 2017 IEEE International Conference on Robotics and Automation (ICRA). Singapore.
[4] Zhang Qiang, Xu Benyan, Guo Zhao*, Xiao Xiaohui, Design and Modeling of a Compact Rotary Series Elastic Actuator for an Elbow Rehabilitation Robot, International Conference on Intelligent Robotics and Applications, 2017, 44-56.
[5] Guo Zhao, Yu Haoyong*. Development of a Novel Robotic Omni-directional Hospital Bed Mover for Patient Transfer. IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2016, Shanghai, China.
[6]Zhang Qiang, Xiao Xiaohui*, Guo Zhao. Power Efficiency-Based Stiffness Optimization of a Compliant Actuator for Underactuated Bipedal Robot, International Conference on Intelligent Robotics and Applications,Tokyo, Japan, 2016: 186-197.
[7] Chen Gong, Guo Zhao, Yu Haoyong*, Design and evaluation of a portable knee-ankle-foot robot for gait rehabilitation, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, (IDETC/CIE 2015), August 2-5, 2015, Boston, Massachusetts, USA.
[8] Oussama Ben Farah, Zhao Guo, Gong Chen, Haoyong Yu, Chi Zhu, “Power Analysis of a Series Elastic Actuator for Ankle Joint Gait Rehabilitation”, 2015 IEEE International Conference on Robotics and Automation, (ICRA).
[9] Mun KyungRyoul, Guo Zhao, Yu Haoyong, Development and Evaluation of a Novel Over-ground Robotic Walker for Pelvic Motion Support, the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015), Aug 11-14, 2015, Singapore. (Best Conference Paper Finalist)
[10] Gu Xiaoyi, Guo Zhao, Peng Yuxin, Chen Gong, and Yu Haoyong, “Effects of Compliant and Flexible Trunks on Peak-Power of a Lizard-Inspired Robot,” 2015 IEEE Conference on Robotics and Biomimetics (ROBIO 2015), December 6-9, 2015, Zhuhai, China (Best Conference Paper Finalist).
[11] Chen Gong, Guo Zhao, Yu Haoyong, Gait Event-Based Human-Robot Synchrony for Gait Rehabilitation Using Adaptive Oscillator, 2015 IEEE Conference on Robotics and Biomimetics (ROBIO 2015), December 6-9, 2015, Zhuhai, China.
[12] Guo Zhao, Yu Haoyong*, Wee Liang-Boon. Design of a novel compliant differential shape memory alloy actuator. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, Tokyo, Japan.
[13] Yu Haoyong, Chen Gong, Guo Zhao. Design of a novel portable knee ankle orthotics. 2013 IEEE life sciences grand challenges conference, Dec. 2-3, Singapore. (Outstanding Poster Award)
[14] Guo Zhao, Fan Yuanjie, Zhang Jianjun, Yu Haoyong, Yin Yuehong*, “A new 4M model-based human-machine interface for lower extremity exoskeleton robot”. International Conference on Intelligent Robotics and Applications, 2012. 7506: 545-554.
英文专著章节
[1] Guo Zhao, Chen Gong, Yu Haoyong, chapter 8: Gait Event-Based Synchronization and Control of a Compact Portable Knee-Ankle-Foot Exoskeleton Robot for Gait Rehabilitation, book Title: “Wearable Exoskeleton Systems: Design, Control and Applications” edited by Shaoping Bai, Gurvinder S. Virk & Thomas Sugar. The Institution of Engineering and Technology (IET). 2018.05. ISBN: 978-1-78561-302-9. Pagination: 408pp (pp.165-187).
[2] Guo Zhao, Yu Haoyong, Wee Liang-Boon, Compliant Shape Memory Alloy Actuator Design, Modeling and Motion Control, Book Title: “Shape Memory Alloys: Characterization, Applications and Limitations”, Advances in Engineering Research. Vo. l9. ISBN: 978-1-63482-305-0.
授权及申请发明专利
[1] 郭朝，肖晓晖，孙剑韬，张玉炳，基于可变支点的对称式变刚度柔性驱动器，授权号：ZL201611249889.2.
[2] 郭朝，肖晓晖，张玉炳，孙剑韬，基于可变支点的变刚度柔性驱动器，授权号：201611248593.9.
[3] 郭朝，肖晓晖，姚渊，张强，一种便携式柔性肘关节外骨骼机器人，授权号：201611015755.4.
[4] 郭朝，肖晓晖，张匆，周江琛，一种便携式柔性绳驱下肢外骨骼机器人，授权号：201710129374.7.
[5] 郭朝，肖晓晖，许本燕，孙定阳，一种柔性绳驱上肢外骨骼机器人，授权号：201711066608.4.
[6] 郭朝，肖晓晖，孙定阳，孙剑韬，一种变刚度下肢外骨骼机器人，授权号：201711065264.5.
[7] 郭朝，肖晓晖，魏坤松，张玉炳，一种变刚度柔性驱动器，申请号：201711053413.6
[8] 郭朝，肖晓晖，倪传政，周天林，一种主被动融合的变瞬心柔性绳驱下肢外骨骼机器人，申请号：2019
项目经历
在研项目
[1] 类生物骨骼肌变刚度驱动器的仿生机理与优化设计方法研究，国家自然科学基金青年基金项目，国家自然科学基金委，20万元，2017-2019，主持
[2] 融合功能性电刺激（FES）的柔性下肢外骨骼康复机器人协作控制研究，深圳市科创委基础研究（自由探索）项目，深圳市科技创新委员会，50万元，2019-2021，主持
[3] 武汉大学珞珈青年学者人才基金，武汉大学，25万元，2017-2019，主持
[4]基于脑机接口技术的外骨骼机器人人机协同控制，武汉大学自主科研（B类）重大培育项目，武汉大学，10万元，2018-2019，主持
[5] 武汉大学引进人才启动经费，50万元，2019-2021，主持
[6] 基于模拟学习的软操作柔顺交互控制研究，国家自然科学基金青年基金项目，国家自然科学基金委，24万元，2018-2020，参与
结题项目
[1] 下肢变刚度外骨骼机器人人机耦合动力学与协同控制，中国博士后基金第十批特别资助项目，中国博士后科学基金会，15万元，2017-2018，主持
[2]面向康复机器人的变刚度驱动器仿生设计原理及方法，中国博士后基金面上项目，中国博士后科学基金会，5万元，2016-2017，主持
[3] 2017年度博士后国际交流计划学术交流项目，3万元，主持
[4]变刚度驱动外骨骼机器人人机耦合动力学与协调控制，湖北省自然科学基金面上项目，湖北省科技厅，3万元，2017-2018，主持
[5]仿人体骨骼肌的变刚度柔性驱动器设计及控制关键技术研究，江苏省自然科学基金青年基金项目，江苏省科技厅，20万元，2015-2018，主持
[6] 变刚度驱动下肢外骨骼机器人设计与协同控制，武汉市青年科技晨光计划项目，武汉市科技局，10万元，2017-2018，主持
[7] 智能机器人用变刚度驱动器仿生设计及控制，武汉大学自主科研(青年教师)资助项目，武汉大学，10万元，2016-2017，主持
[8] 士兵助力增强用柔性绳驱外骨骼机器人，武汉大学自主科研（B类）引导项目，武汉大学，5万元，2017-2018，主持参与项目：
[9]复合地面环境下双足机器人全/欠驱动混合的仿人行走稳定性控制，国家自然科学基金面上项目，国家自然科学基金委，60万元，2017-2019，参与
[10] DynAmic connectomics of lower limb motoR corTex for Exoskeleton Robots (DARTER), Academic Research Fund (AcRF) TIER 2, SGD$ 670k，2015-2017，主持
[11] A novel portable compliant powered knee and ankle foot orthosis for neurorehabilitation with modular design, A*Star BEP POC, $500k, 2014-2016，主持
[12] Development and Evaluation of a Novel Portable Robotic Gait Rehabilitation Platform in older chronic stroke survivors, B&B Nov 2014 Grant, SGD$ 1,500k，2014，主持
[13] A Novel Robotic Omni-directional Mobility Device for Power-assisted hospital bed -A Revolutionary Solution for Hospital Productivity, $239,000, 2014-2015，主持
奖励及荣誉
柔性助行外骨骼机器人，“兆易创新杯”第十四届研究生电子设计竞赛全国一等奖，华中赛区一等奖，优秀指导老师，2019年
变刚度仿人手软体自适应性抓取装置，第八届全国大学生机械创新设计大赛湖北赛区一等奖, 指导老师 ，2018年
武汉大学珞珈青年学者，2017年
最佳会议论文提名奖 (Best Conference Paper Finalist)，ICARM 2018年、ICORR 2015年
最佳海报奖(Outstanding Poster Award), 2013 IEEE life sciences grand challenges conference，2013年