Zhibo Jing — accepted AI-conference papers

2026

A Lightweight Compact Cable-Driven Hip Exoskeleton With High Torque Capacity

Jianquan Ding, Liping Wang, Jianyu Chen, Weihao Yin, Zhibo Jing, Jianda Han +1

RA-L 2026

Lower limb exoskeletons have shown great promise for enhancing mobility. Existing systems are limited by either excessive weight or insufficient torque output. In this study, we present a cable-driven hip extension exoskeleton featuring lightweight, compact, and compliant end-effectors with high-tor

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2026

A Novel Cable-Tightness-Based Control Strategy With High-Accuracy and Seamless Gait Assistance for Cable-Driven Exoskeletons

Jiaqi Han, Weihao Yin, Yingbo Song, Zhibo Jing, Jianda Han, Juanjuan Zhang

RA-L 2026

Cable-driven exoskeletons face control challenges such as transmission latency and complex kinematics. In gait assistance, torque–position switching strategy can provide transparency and near-zero impedance, but its mode switching introduces discontinuities. Iterative-learning methods enhance tracki

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