Jianwei Sun

Jianwei Sun

Ph.D. in Robotics & Control
University of California, Los Angeles

About Me

I am a recent Ph.D. graduate from the Bionics Lab at the University of California, Los Angeles, under the supervision of Prof. Jacob Rosen. My research focuses 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 includes:

  • 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 industry 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 internship 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

  • 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.
    To appear in Transactions on Mechatronics (TMECH), 2024.
  • 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.
  • Sensor Reduction, Estimation, and Control of an Upper-Limb Exoskeleton.
    Jianwei Sun, Yang Shen, Jacob Rosen.
    IEEE Robotics and Automation Letters (RA-L), 2021.
  • Vehicle platoon control with virtual path constraints.
    Jianwei Sun, Rajan Gill.
    IEEE Conference on Control Technology and Applications (CCTA), 2019.
    Best paper finalist.