ESC

Publications

Human-Robot Interaction

  • Adaptive exoskeleton torque control for varying assistance
  • Perturbation experiments using wearable assistive robots
  • Human–robot interaction identification during locomotion and balance recovery
  • Fusion of musculoskeletal modeling and neural networks

Human Balance Assessment

  • Quantitative assessment of human balance capability
  • Perturbation Recovery Time metric for detecting subtle balance impairments
  • Biomechanics dataset under staedy-state and perturbed walking conditions
  • Biomechanical feature discovery for balance characterization

Selected Publications

  1. Wu, J., Raitor, M., Truong, T. E., Liu, C. K., & Collins, S. H. (2026). Perturbation Recovery Time Identifies Subtle Human Balance Impairments and Features. IEEE Transactions on Biomedical Engineering.
    PDF DOI 
    @article{wu2025perturbation,
  title = {Perturbation Recovery Time Identifies Subtle Human Balance Impairments and Features},
  author = {Wu, Jiaen and Raitor, Michael and Truong, Takara Everest and Liu, C Karen and Collins, Steven H},
  journal = {IEEE Transactions on Biomedical Engineering},
  year = {2026},
  publisher = {IEEE},
  doi = {10.1109/TBME.2026.3699697},
  file = {2026-Wu-IEEE-TBME.pdf},
  keywords = {balance}
}
  2. Wu, J., Raitor, M., Tan, G. R., Staudenmayer, K. L., Delp, S. L., Liu, C. K., & Collins, S. H. (2025). Detecting artificially impaired balance in human locomotion: metrics, perturbation effects and detection thresholds. Journal of Experimental Biology, 228(10), jeb249339.
    PDF DOI 
    @article{wu2025detecting,
  title = {Detecting artificially impaired balance in human locomotion: metrics, perturbation effects and detection thresholds},
  author = {Wu, Jiaen and Raitor, Michael and Tan, Guan Rong and Staudenmayer, Kristan L and Delp, Scott L and Liu, C Karen and Collins, Steven H},
  journal = {Journal of Experimental Biology},
  volume = {228},
  number = {10},
  pages = {jeb249339},
  year = {2025},
  publisher = {The Company of Biologists},
  doi = {10.1242/jeb.249339},
  file = {2025-Wu-JEB.pdf},
  keywords = {balance}
}

Neurological Gait Rehabilitation

Patient 1 — Haptic Feedback OFF

Patient 1 — Haptic Feedback ON

Patient 2 — Haptic Feedback OFF

Patient 2 — Haptic Feedback ON

  • High-fidelity wearable sensing and acutation systems for real-world gait monitoring
  • Embedded AI for real-time gait analysis, including motion classification and phase detection
  • Automated, human-level gait labeling without manual annotation
  • Lightweight real-time inference on low-power embedded microcontrollers
  • Closed-loop haptic feedback for pathological gait rehabilitation

Selected Publications

  1. Wu, J., Becsek, B., Schaer, A., Maurenbrecher, H., Chatzipirpiridis, G., Ergeneman, O., Pané, S., Torun, H., & Nelson, B. J. (2022). Real-time gait phase detection on wearable devices for real-world free-living gait. IEEE Journal of Biomedical and Health Informatics, 27(3), 1295–1306.
    PDF DOI 
    @article{wu2022real,
  title = {Real-time gait phase detection on wearable devices for real-world free-living gait},
  author = {Wu, Jiaen and Becsek, Barna and Schaer, Alessandro and Maurenbrecher, Henrik and Chatzipirpiridis, George and Ergeneman, Olgac and Pan{\'e}, Salvador and Torun, Hamdi and Nelson, Bradley J},
  journal = {IEEE Journal of Biomedical and Health Informatics},
  volume = {27},
  number = {3},
  pages = {1295--1306},
  year = {2022},
  publisher = {IEEE},
  doi = {10.1109/JBHI.2022.3228329},
  file = {2022-Wu-IEEE-JBHI.pdf},
  keywords = {rehab}
}
  2. Wu, J., Maurenbrecher, H., Schaer, A., Becsek, B., Awai Easthope, C., Chatzipirpiridis, G., Ergeneman, O., Pané, S., & Nelson, B. J. (2022). Human gait-labeling uncertainty and a hybrid model for gait segmentation. Frontiers in Neuroscience, 16, 976594.
    PDF DOI 
    @article{wu2022human,
  title = {Human gait-labeling uncertainty and a hybrid model for gait segmentation},
  author = {Wu, Jiaen and Maurenbrecher, Henrik and Schaer, Alessandro and Becsek, Barna and Awai Easthope, Chris and Chatzipirpiridis, George and Ergeneman, Olgac and Pan{\'e}, Salvador and Nelson, Bradley J},
  journal = {Frontiers in neuroscience},
  volume = {16},
  pages = {976594},
  year = {2022},
  publisher = {Frontiers Media SA},
  doi = {10.3389/fnins.2022.976594},
  file = {2022-Wu-Frontiers-in-Neuroscience.pdf},
  keywords = {rehab}
}
  3. Wu, J., Kuruvithadam, K., Schaer, A., Stoneham, R., Chatzipirpiridis, G., Easthope, C. A., Barry, G., Martin, J., Pané, S., Nelson, B. J., & others. (2021). An intelligent in-shoe system for gait monitoring and analysis with optimized sampling and real-time visualization capabilities. Sensors, 21(8), 2869.
    PDF DOI 
    @article{wu2021intelligent,
  title = {An intelligent in-shoe system for gait monitoring and analysis with optimized sampling and real-time visualization capabilities},
  author = {Wu, Jiaen and Kuruvithadam, Kiran and Schaer, Alessandro and Stoneham, Richie and Chatzipirpiridis, George and Easthope, Chris Awai and Barry, Gill and Martin, James and Pan{\'e}, Salvador and Nelson, Bradley J and others},
  journal = {Sensors},
  volume = {21},
  number = {8},
  pages = {2869},
  year = {2021},
  publisher = {MDPI},
  doi = {10.3390/s21082869},
  file = {2021-Wu-Sensors.pdf},
  keywords = {rehab}
}

Microrobotics for Targeted Therapy

  • Magnetically actuated microrobotic system for precise navigation in complex biological environments
  • Adaptive soft-hinged design enabling controllable gait modulation under external fields
  • Real-time dynamic modeling to predict and compensate stochastic microscale motion
  • pH-responsive drug delivery for localized and targeted therapeutic release
  • Bio-inspired control strategies for reliable microrobot guidance in fluid environments

Selected Publications

  1. Wu, J., Folio, D., Zhu, J., Jang, B., Chen, X., Feng, J., Gambardella, P., Sort, J., Puigmartı́-Luis Josep, Ergeneman, O., & others. (2022). Motion Analysis and Real-Time Trajectory Prediction of Magnetically Steerable Catalytic Janus Micromotors. Advanced Intelligent Systems, 4(11), 2200192.
    PDF DOI 
    @article{wu2022motion,
  title = {Motion Analysis and Real-Time Trajectory Prediction of Magnetically Steerable Catalytic Janus Micromotors},
  author = {Wu, Jiaen and Folio, David and Zhu, Jiawei and Jang, Bumjin and Chen, Xiangzhong and Feng, Junxiao and Gambardella, Pietro and Sort, Jordi and Puigmart{\'\i}-Luis, Josep and Ergeneman, Olgac and others},
  journal = {Advanced Intelligent Systems},
  volume = {4},
  number = {11},
  pages = {2200192},
  year = {2022},
  publisher = {Wiley Online Library},
  doi = {10.1002/aisy.202200192},
  file = {2022-Wu-Advanced-Intelligent-Systems.pdf},
  keywords = {microrobot}
}
  2. Wu, J., Jang, B., Harduf, Y., Chapnik, Z., Avci, Ö. B., Chen, X., Puigmartı́-Luis Josep, Ergeneman, O., Nelson, B. J., Or, Y., & others. (2021). Helical klinotactic locomotion of two-link nanoswimmers with dual-function drug-loaded soft polysaccharide hinges. Advanced Science, 8(8), 2004458.
    PDF DOI 
    @article{wu2021helical,
  title = {Helical klinotactic locomotion of two-link nanoswimmers with dual-function drug-loaded soft polysaccharide hinges},
  author = {Wu, Jiaen and Jang, Bumjin and Harduf, Yuval and Chapnik, Zvi and Avci, {\"O}mer Bartu and Chen, Xiangzhong and Puigmart{\'\i}-Luis, Josep and Ergeneman, Olgac and Nelson, Bradley J and Or, Yizhar and others},
  journal = {Advanced Science},
  volume = {8},
  number = {8},
  pages = {2004458},
  year = {2021},
  publisher = {Wiley Online Library},
  doi = {10.1002/advs.202004458},
  file = {2021-Wu-Advanced-Science.pdf},
  keywords = {microrobot}
}

Automatic Control

  • Advanced control strategies for robotic and mechatronic systems
  • Model-based system identification and control synthesis
  • Adaptive and robust control for uncertain and time-varying dynamics

Selected Publications

  1. Shi, S., Sass, J., Wu, J., Kim, M., Ma, Y., Shin, S., & Braatz, R. D. (2025). Optimization-Free Fast Optimal Control: Bang-Ride Property, Monotonicity, and Applications to Fast Battery Charging. ArXiv e-Prints, arXiv–2508.
    DOI 
    @article{shi2025optimization,
  title = {Optimization-Free Fast Optimal Control: Bang-Ride Property, Monotonicity, and Applications to Fast Battery Charging},
  author = {Shi, Shengling and Sass, Jacob and Wu, Jiaen and Kim, Minsu and Ma, Yingjie and Shin, Sungho and Braatz, Richard D},
  journal = {arXiv e-prints},
  pages = {arXiv--2508},
  year = {2025},
  doi = {10.48550/arXiv.2508.09010},
  keywords = {control}
}
  2. Marquez-Ruiz, A., Wu, J., Özkan, L., Gallucci, F., & Annaland, M. V. S. (2019). Optimal operation and control of fluidized bed membrane reactors for steam methane reforming. Computer Aided Chemical Engineering, 46, 1231–1236.
    PDF DOI 
    @article{marquez2019optimal,
  title = {Optimal operation and control of fluidized bed membrane reactors for steam methane reforming},
  author = {Marquez-Ruiz, Alejandro and Wu, Jiaen and {\"O}zkan, Leyla and Gallucci, Fausto and Annaland, Martin Van Sint},
  journal = {Computer Aided Chemical Engineering},
  volume = {46},
  pages = {1231--1236},
  year = {2019},
  publisher = {Elsevier},
  doi = {10.1016/B978-0-12-818634-3.50206-X},
  file = {2019-Marquez-Computer-Aided-Chemical-Engineering.pdf},
  keywords = {control}
}

Intelligent Systems

  • Flexible sensing platforms
  • Reconfigurable manipulation interfaces
  • Reactive material systems

Selected Publications

  1. Zahertar, S., Wu, J., Chen, X.-Z., Pane, S., Ergeneman, O., Fu, Y.-Q., & Torun, H. (2021). An integrated flexible platform of electromagnetic metamaterials and acoustofluidics on Kapton. 2021 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS), 1–4.
    PDF DOI 
    @inproceedings{zahertar2021integrated,
  title = {An integrated flexible platform of electromagnetic metamaterials and acoustofluidics on Kapton},
  author = {Zahertar, Shahrzad and Wu, Jiaen and Chen, Xiang-Zhong and Pane, Salvador and Ergeneman, Olgac and Fu, Yong-Qing and Torun, Hamdi},
  booktitle = {2021 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)},
  pages = {1--4},
  year = {2021},
  organization = {IEEE},
  doi = {10.1109/FLEPS51544.2021.9469821},
  file = {2021-Zahertar-FLEPS.pdf},
  keywords = {others}
}
  2. Zahertar, S., Wu, J., Chatzipirpiridis, G., Ergeneman, O., Canyelles-Pericas, P., Tao, R., Fu, Y. Q., & Torun, H. (2020). A flexible PVDF-based platform combining acoustofluidics and electromagnetic metamaterials. 2020 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS), 1–4.
    PDF DOI 
    @inproceedings{zahertar2020flexible,
  title = {A flexible PVDF-based platform combining acoustofluidics and electromagnetic metamaterials},
  author = {Zahertar, Shahrzad and Wu, Jiaen and Chatzipirpiridis, George and Ergeneman, Olgac and Canyelles-Pericas, Pep and Tao, Ran and Fu, Yong Qing and Torun, Hamdi},
  booktitle = {2020 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)},
  pages = {1--4},
  year = {2020},
  organization = {IEEE},
  doi = {10.1109/FLEPS49123.2020.9239454},
  file = {2020-Zahertar-FLEPS.pdf},
  keywords = {others}
}
  3. Li, C., Wu, J., Peng, W., Fang, Z., & Liu, J. (2019). Peroxymonosulfate activation for efficient sulfamethoxazole degradation by Fe3O4/β-FeOOH nanocomposites: Coexistence of radical and non-radical reactions. Chemical Engineering Journal, 356, 904–914.
    PDF DOI 
    @article{li2019peroxymonosulfate,
  title = {Peroxymonosulfate activation for efficient sulfamethoxazole degradation by Fe3O4/$\beta$-FeOOH nanocomposites: Coexistence of radical and non-radical reactions},
  author = {Li, Chenxu and Wu, Jiaen and Peng, Wei and Fang, Zhendong and Liu, Jie},
  journal = {Chemical engineering journal},
  volume = {356},
  pages = {904--914},
  year = {2019},
  publisher = {Elsevier},
  doi = {10.1016/j.cej.2018.09.064},
  file = {2019-Li-CEJ.pdf},
  keywords = {others}
}