Peer-Reviewed Publications

2023

• Nikita Boguslavskii*, Zhuoyun Zhong*, Lorena Maria Genua* and Zhi Li, “A Shared Autonomous Nursing Robot Assistant with Dynamic Workspace for Versatile Mobile Manipulation.” In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7040-7045. IEEE, 2023. PDF
• Achyuthan Unni Krishnan, Tsung-Chi Lin, and Zhi Li, “Human Preferred Augmented Reality Visual Cues for Remote Robot Manipulation Assistance: from Direct to Supervisory Control.” In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7034-7039. IEEE, 2023. PDF
• Twardowski, Michael D., Michael D. Chan, Zhi Li, Gianluca De Luca, Joshua C. Kline, and John P. Chiodini. “Motor Unit Action Potential Based Classification of Hand and Arm Motions.” In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2134-2139. IEEE, 2023. PDF
• Tsung-Chi Lin, Achyuthan Unni Krishnan, and Zhi Li, “The Impacts of Unreliable Autonomy in Human-Robot Collaboration on Shared and Supervisory Control for Remote Manipulation.”, Accepted by IEEE Robotics & Automation Letter (RA-Letter). PDF
• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li, “Perception-Motion Coupling in Active Telepresence: Human Behavior and Teleoperation Interface Design”, ACM Transactions on Human-Robot Interaction 12, no. 3 (2023): 1-24. PDF

2022

• Achyuthan Unni Krishnan, Tsung-Chi Lin, and Zhi Li. “Design Interface Mapping for Efficient Free-form Tele-manipulation.” In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6221-6226.. 2022. PDF
• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li. “Comparison of Haptic and Augmented Reality Visual Cues for Assisting Tele-manipulation.” In 2022 International Conference on Robotics and Automation (ICRA), pp. 9309-9316. PDF
• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li, “Intuitive, Efficient and Ergonomic Tele-Nursing Robot Interfaces: Design Evaluation and Evolution”, ACM Transactions on Human-Robot Interaction (THRI) 11, no. 3 (2022): 1-41. PDF

2021

• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li, “How People Use Active Telepresence Cameras in Tele-manipulation”, In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3808-3815. PDF
• Alexandra Valiton, Hannah Baez, Naomi Harrison, Justine Roy, and Zhi Li, “Active Telepresence Assistance for Supervisory Control: A User Study with a Multi-Camera Tele-Nursing Robot”, In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3722-3727. PDF
• Kimpara, Hideyuki, Kenechukwu C. Mbanisi, Zhi Li, Karen L. Troy, Danil Prokhorov, and Michael A. Gennert. “Force anticipation and its potential implications on feedforward and feedback human motor control.” Human Factors 63, no. 4 (2021): 647-662.

2020

• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li, “Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping“, in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. PDF
• Alexandra Valiton and Zhi Li, “Perception-Action Coupling in Usage of Telepresence Cameras“,  in 2020 IEEE International Conference on Robotics and Automation (ICRA),  pp. 3846-3852. IEEE, 2020,  Finalist of Best Paper for Human-Robot Interaction PDF
• Samuel White, Keion Bisland, Michael Collins, and Zhi Li,  “Design of a High-level Teleoperation Interface Resilient to the Effects of Unreliable Robot Autonomy“, In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11519-11524, IEEE, 2020. PDF

2019

• Tsung-Chi Lin, Achyuthan Unni Krishnan and Zhi Li, “Physical Fatigue Analysis of Assistive Robot Teleoperation via Whole-body Motion Mapping“, in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2240–2245, IEEE, 2019 PDF
• Heramb Nemlekar, Dharini Dutia, Zhi Li, “Object Transfer Point Estimation for Fluent Human-Robot Handovers”, in 2019 International Conference on Robotics and Automation (ICRA), pp. 2627-2633. IEEE, 2019. PDF
• Hideyuki Kimpara, Kenechukwu Mbanisi, Jie Fu, Zhi Li, Danil Prokhorov, and Michael Gennert, “Human Model-based Active Driving System in Vehicular Dynamic Simulation“, IEEE Transactions on Intelligent Transportation Systems 21, no. 5 (2019): 1903-1914. PDF

2018

• Kenechukwu C. Mbanisi, Hideyuki Kimpara, Tess Meier, Michael Gennert and Zhi Li “Learning Coordinated Vehicle Maneuver Motion Primitives from Human Demonstration”, In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6560-6565. PDF
• Michael Twardowski, Serge Roy, Zhi Li, Paola Contessa, Gianluca De Luca, Joshua Kline, “Motor unit drive: a neural interface for real-time upper limb prosthetic control”, in Journal of neural engineering 16, no. 1 (2018): 016012. PDF

Workshop Papers

2019

• Kenechukwu C. Mbanisi and Zhi Li, “Active Biomechanical Human Model for Simulating Loco-Manipulation in Human-Robot Interactions”, Workshop on “Human Movement Science”, IEEE International Conference on Robotics and Automation (ICRA 2019)
• Heramb Nemlekar and Zhi Li, “Inferring the level of collaboration in object handover tasks: From one-to-one to one-to-many”, Workshop on “Human-Robot Teaming Beyond Human Operational Speeds”, IEEE International Conference on Robotics and Automation (ICRA 2019)
• Alexandra Valiton and Zhi Li, “Modeling human perception-action coordination in VR telepresence”, Workshop on “Human-Robot Teaming Beyond Human Operational Speeds”, IEEE International Conference on Robotics and Automation (ICRA 2019)

2018

• Kenechukwu C. Mbanisi, Alexandra R. Valiton, Renee K. Dorer, Zhi Li, “Assessment of Physical Fatigue in Robot Teleoperation during Complex Motion Coordination Tasks”, Workshop on “Robotic Coworkers 4.0: Human Safety and Comfort in Human-Robot Interactive Social Environments”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). PDF
• Heramb Nemlekar, Dharini Dutia and Zhi Li, “Prompt Human to Robot Handovers by Estimation of Object Transfer Point based on Human Partner’s Motion”, Workshop on Human-robot cooperation and collaboration in manipulation: advancements and challenges, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). PDF
• Sihui Li, Haowei Zhao, Ozan Akyildiz, Zhi Li, “Learning Motion Primitives and Task Plan in Teleoperated Robot Motion through Multi-modal Interfaces”, Workshop on Fundamental Issues in Symbiotic Human-Robot Interaction, Robotics: Science and System (RSS 2018) Pittsburgh, Pennsylvania, June, 2018. PDF
• Heramb Nemlekar, Max Merlin, Zhi Li, “High Level Representation of Kinesthetically Learned Motions for Human-Robot Collaborative Tasks”,Workshop on Learning from Demonstrations for high level robotics tasks, Robotics: Science and System (RSS 2018), Pittsburgh, Pennsylvania, June, 2018. PDF
• Kenechukwu C. Mbanisi, Tess B. Meier, Hideyuki Kimpara, Jie Fu, Michael A. Gennert, and Zhi Li, “Learning Movement Primitives for Driving Tasks from Human Demonstration”. 8th World Congress on Biomechanics (WCB 2018)
• JC Kline, MD Twardowski, SH Roy, Z Li, and G De Luca, “Real-time Measurements of Motor Unit Firings for Prosthetic Control”. 8th World Congress of Biomechanics (WCB 2018)

2017

• Kenechukwu C. Mbanisi, Hideyuki Kimpara, Jie Fu and Zhi Li, “A Control Architecture for Rendering Passive and Active Whole-body Coordination in Driving Tasks”, IROS 2017 Workshop on Human Movement Understanding for Humanoid and Wearable Robots, Vancouver, BC, Canada, September, 2017. PDF

Achieved – Before WPI

2017

• Zhi Li, Dejan Milutinovic and Jacob Rosen, “From Reaching to Reach-to-grasp: the Arm Posture Difference and its Implications on Human Motion Control Strategy”. Experimental Brain Research, 235(5), pp.1627-1642, 2017. PDF
• Zhi Li, Peter Moran, Qingyuan Dong, Ryan Shaw, Kris Hauser, “Development of a Tele-Nursing Mobile Manipulator for Remote Care-giving in Quarantine Areas”, In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3581-3586. PDF
• Jianqiao Li, Zhi Li, Kris Hauser, “A Study of Bidirectionally Telepresent Tele-Action During Robot-Mediated Handover”, In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 2890-2896. PDF

2016

• Jay Ryan U. Roldan, Dejan Milutinović, Zhi Li and Jacob Rosen, A Low-Dimensional Dissimilarity Analysis of Unilateral and Bilateral Stroke-Impacted Hand Trajectories, ASME Journal of dynamic systems, measurement, and control, 138(11), 2016. PDF
• Zhi Li, Dejan Milutinović, and Jacob Rosen. “Design of a Multi-Arm Surgical Robotic System for Dexterous Manipulation.” Journal of Mechanisms and Robotics 8(6),Oct. 2016. PDF

2015

• Zhi Li, Dejan Milutinovic and Jacob Rosen, “Spatial Map of Synthesized Criteria for the Redundancy Resolution of Human Arm Movements”. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 23(6), pp. 1020 – 1030, Nov. 2015. PDF
• Zhi Li, Kris Hauser, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “A Novel Method for Quantifying Arm Motion Similarity”, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), Milan, Italy, August, 2015. PDF
• Zhi Li, Kris Hauser, “Predicting Object Transfer Position and Timing in Human-robot Handover Tasks”, Science and Systems: 2015 Robotics (RSS 2015), Human-Robot Handover Workshop, Rome, Italy, June, 2015. PDF
• Zhi Li, Kris Hauser, “Ebolabot: Progress toward a Tele-nursing Robotic System for Ebola Patient Treatment”, Science and Systems: 2015 Robotics (RSS 2015), Workshop on Robotics for Advanced Response to Epidemics (RARE), Rome, Italy, June, 2015. PDF

2014

• Jacob Rosen, Dejan Milutinovic, Levi M. Miller, Matt Simkins, Hyunchul Kim, and Zhi Li, “Unilateral and Bilateral Rehabilitation of the Upper Limb Following Stroke via an Exoskeleton”, Chapter 15, in Panagiotis Artemiadis (ed.), Neuro-robotics: From brain machine interfaces to rehabilitation robotics, pp 405-446, Springer, 2014. PDF
• Zhi Li, Kierstin Gray, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “The Joint Coordination in Reach-to-grasp Movements”, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA, September, 2014. PDF
• Zhi Li, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “Task-relevance of Grasping-related Degrees of Freedom in Reach-to-grasp Movements”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, USA, September, 2014. PDF

2013

• Zhi Li, Hyunchul Kim, Dejan Milutinovic and Jacob Rosen, “Synthesizing Redundancy Resolution Criteria of the Human Arm Posture in Reaching Movements”, In Redundancy in Robot Manipulators and Multi-robot systems (pp. 201-240). Springer Berlin Heidelberg, 2013. PDF
• Zhi Li, Jay Ryan Roldan, Dejan Milutinovic, Jacob Rosen, “The Rotational Axis Approach for Resolving the Kinematic Redundancy of the Human Arm in Reaching Movements”, 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), Osaka, Japan, July, 2013. PDF

2012

• Hyunchul Kim, Zhi Li, Dejan Milutinovic, Jacob Rosen, “Resolving the Redundancy of a Seven DOF Wearable Robotic System Based on Kinematic and Dynamic Constraint”, 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, USA, 2012. PDF
• Hyunchul Kim, Levi Makaio Miller, Zhi Li and Jacob Rosen, “Admittance Control of Seven-DOF Upper Limb Exoskeleton to Reduce Energy Exchange”, 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Saint Paul, MN on May 14-18, 2012. PDF
• Hyunchul Kim, Jay Ryan Roldan, Zhi Li, and Jacob Rosen, “Viscoelastic Model for Redundancy Resolution of the Human Arm via the Swivel Angle: Applications for Upper Limb Exoskeleton Control”, 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2012), San Diego CA, August, 2012. PDF

2011

• Zhi Li, Daniel Glozman, Dejan Milutinovic, Jacob Rosen, “Maximizing Dexterous Workspace and Optimal Port Placement of a Multi-Arm Surgical Robot”, 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, 2011. PDF

2009

• Zhi Li and Daniela Constantinescu, “Networked Haptic Cooperation Using Remote Dynamic Proxies”. The Second International Conferences on Advances in Computer-Human Interactions (ACHI 2009), Cancun, Mexico, February 1-6 2009. PDF
• Zhi Li and Daniela Constantinescu, “Remote Dynamic Proxies for Wave-Based Peer-to-Peer Haptic Interaction”. The Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, USA, March 18-20 2009. PDF
• Zhi Li and Daniela Constantinescu, “Comparison of Power- and Wave-based Control of Remote Dynamic Proxies for Networked Haptic Cooperation”. The 2009 IEEE International Conference on Mechatronics and Automation (ICMA 2009), Jilin, China August 9-12, 2009. PDF
• Zhi Li, D. Constantinescu. “Networked Haptic Cooperation among Multiple Users via Virtual Object Coordination to Averaged Position of Peer Copies”. The International Workshop on Haptic Audio-Visual Environments and Games, Milano, Italy, November 2009. PDF