About Me

I am currently an Autonomy Engineer at Skydio. I obtained my Ph.D. from the Bionics Lab at the University of California, Los Angeles, under the supervision of Prof. Jacob Rosen. My research focused on the control and estimation topics for physical human-robot interaction with exoskeleton and haptic robots, in the context of automated physical rehabilitation, and also included:

• Generating safety-focused virtual dynamics through admittance control for robotic systems
• Pose estimation, sensor fusion, and delay mitigation for physical human-robot interaction
• Feedback linearization-based control of nonlinear robot dynamics

My former internship experience consists of one motion-planning and control internship at Skydio (Autonomy), two electrical engineering internships at Apple (Wearable Systems), and one software engineering internship at Intel (Programmable Solutions). My skillset includes robot control, software development, circuit design, and hardware verification.

Education

• Ph.D. in Mechanical Engineering (Systems and Control), 2024
  University of California, Los Angeles (UCLA)
• M.Sc. in Mechanical Engineering (Systems and Control), 2020
  University of California, Los Angeles (UCLA)
• M.Sc. in Electrical Engineering and Information Technology, 2019
  Swiss Federal Institute of Technology (ETH Zürich)
• B.A.Sc. in Engineering Science (Electrical and Computer Engineering), 2017
  University of Toronto (UofT)

Select Publications

• Virtually Constrained Admittance Control using Feedback Linearization for Physical Human-Robot Interaction with Rehabilitation Exoskeletons
  Jianwei Sun, Yasamin Foroutani, Jacob Rosen.
  IEEE/ASME Transactions on Mechatronics (TMECH), 2024.
  IEEE Xplore PDF Copy Citation Video
• A Safety-Focused Admittance Control Approach for Physical Human-Robot Interaction with Rigid Multi-Arm Serial Link Exoskeletons
  Jianwei Sun, Erik Harrison Kramer, Jacob Rosen.
  IEEE/ASME Transactions on Mechatronics (TMECH), 2024.
  IEEE Xplore PDF Copy Citation Video
• Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton using Rate-Limiting
  Jianwei Sun, Peter Walker Ferguson, Jacob Rosen.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
  IEEE Xplore PDF Copy Citation Video
• Vehicle platoon control with virtual path constraints.
  Jianwei Sun, Rajan Gill.
  IEEE Conference on Control Technology and Applications (CCTA), 2019.
  
  Best paper finalist.
  IEEE Xplore PDF Copy Citation Video