Linghui PHD Candidate@ME, KTH Royal Institute of Technology Email: linghuix@kth.se [Google Scholar], [ResearchGate], [LinkedIn],

Biography

I am currently a PHD student at KTH Moveability Lab, KTH Royal Institute of Technology. My background is Mechatronics. Currently, I am working on active assistive exoskeletons project for person with weak hip abductors. My research interests include Exoskeleton, Rehabilitation, Wearable Sensor, Gait Analysis, Human Intention Recognition.

Education

	PhD KTH Royal Institute of Technology Mechatronic Engineering Supervisor: Prof. Elena Gutierrez Farewik, Georgios Andrikopoulos	Sep. 2022 - Jun. 2026(*) Stockholm, Sweden
	MA.Eng Zhejiang University Mechatronic Engineering Supervisor: Prof. Canjun Yang	Sep. 2019 - Jun. 2022 Zhejiang, China
	B. Eng. Zhejiang University Mechatronic Engineering	Sep. 2015 - Jun. 2019 Zhejiang, China

Experience

	R&D Intern BONDIOLI & PAVESI Hydraulic and Mechanical Components Pump Clamp Design	Jul. 2018 - Sep. 2018 Hangzhou, China
		*: The expected schedule.

Publications

Journal Articles

• Xu L, Chen Y, Fan B, Yang C, Yang W. Wearable Continuous Gait Phase Estimation During Walking, Running, Turning, Stairs, and Over Uneven Terrain. IEEE Transactions on Medical Robotics and Bionics. 2024;6(3):1135-1146. doi:10.1109/TMRB.2024.3407366
• Xu L, Liu X, Chen Y, et al. Reducing the muscle activity of walking using a portable hip exoskeleton based on human-in-the-loop optimization. Frontiers in Bioengineering and Biotechnology. 2023;11. Accessed May 28, 2023. https://www.frontiersin.org/articles/10.3389/fbioe.2023.1006326
• Machine-learning-based children’s pathological gait classification with low-cost gait-recognition system
  Linghui Xu, Jiansong Chen, Fei Wang, Yuting Chen, Wei Yang#, Canjun Yang
  Biomedical Engineering Online (Q3), 2021
• Hybrid oscillator-based no-delay hip exoskeleton control for free walking assistance
  Wei Yang, Linghui Xu#, Linfan Yu, Yuting Chen, Zehao Yan, Canjun Yang
  Industrial Robot (Q2), 2021

More

• An Omnidirectional Encircled Deployable Polyhedral Gripper for Contactless Delicate Midwater Creatures Sampling
  Qingchao Xia, Linghui Xu, Chen Liu, Yue Yang, Yuting Chen#, Sheng Zhang#, Canjun Yang
  Advanced Engineering Materials (Q2), 2022
• Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review
  Canjun Yang, Linfan Yu, Linghui Xu, Zehao Yan, Dongming Hu, Sheng Zhao, Wei Yang#
  Wearable Technologies , 2022
• Current Development on Origami/Kirigami Inspired Structure of Creased Patterns toward Robotics
  Chao Ai, Yuting Chen, Linghui Xu, Hong Li, Chen Liu, Fangfang Shang, Qingchao Xia, Sheng Zhang#
  Advanced Engineering Materials (Q2), 2021
• Real-time Assistance Control of Hip Exoskeleton Based on Motion Prediction
  Linghui Xu, Wei Yang, Canjun Yang, Jiyu Zhang, Tian Wang
  EI: Robot, 2021
• Design of flexible knee-joint protection exoskeleton and walking assistance method
  Canjun Yang, Zhenzhe Peng, Linghui Xu, Wei Yang
  EI: Journal of Zhejiang University: Engineering Science, 2021
• The Design of Exoskeleton Underactuated Hip Joint Based on Walking Balance Stability
  Jie Hu，Linghui Xu，Wei Yang，Xiangming Zheng
  EI: Software Guide， 2020
• Following Assistance Control of Walking Assist Exoskeleton Based on Oscillator
  Wei Yang, Canjun Yang, ZhangYi Ma, Hansong Wang, Linghui Xu
  EI: Journal of Mechanical & Electrical Engineering, 2019

Conference Papers

• Predictive simulations of musculoskeletal model to study biomechanics in walking with weak hip abductors. Stockholm.
  Xu L, Gutierrez-Farewik EM.
  The XXX Congress of the International Society of Biomechanics (ISB), 2025
• Improving Walking Assist Hip Exoskeleton Torque Efficiency with Decoupling Mechanism
  Linfan Yu, Zehao Yan, Linghui Xu, Wei Yang, Canjun Yang
  International Symposium on Autonomous Systems (ISAS), 2022

More

• Adaptive torque control of hip exoskeleton for walking assist based on motion comparison method and phase oscillator method
  Wei Yang, Linghui Xu, Canjun Yang
  Intelligent Rehabilitation and Human-machine Engineering Conference (IRHE) , 2019
• Simulation of exoskeleton ZMP during walking for balance control
  Wei Yang, Canjun Yang#, Yanhu Chen, Linghui Xu
  International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT), 2018

#: Corresponding author.

Patents and Copyright

Patents

• Gait correction system and method for regulating and controlling upper limb swing
  Yang W, Yu L, Yan Z, Linghui Xu, Yang C
  CN114712170A, 2022
• Walking aid continuous gait phase estimation control method based on self-adaptive oscillator
  Linghui Xu, Yang W, Chen Y, Yu L, Yan Z, Xia Q, Yang C, Jia Li, Qichao Zhao
  CN114170679A, 2022
• Wearable walking assistance robot and hybrid assistance control method thereof(*)
  Yang W, Linghui Xu, Cao B, Peng Z, Yang C
  CN112060055B, 2021

More

• System and method for identifying abnormal gait of child based on plantar pressure array detection
  Linghui Xu, Yang W, Yang C, Yu L
  CN112244819A, 2021
• Human-in-loop intelligent training load curve optimization algorithm based on evaluation indexes
  Yang W, Linghui Xu, Yang C, Cao B, Yu L, Peng Z
  CN112364564A, 2021
• Lower limb exoskeleton system with actively adjustable leg rod length and control method thereof (*)
  Yang W, Linghui Xu, Cao B, Peng Z, Yang C
  CN111805511A, 2020
• Intelligent fitness system and adjustable constant-resistance output device
  Yang W, Linghui Xu, Luo Q, Wang F
  CN110812777A, 2020
• Comprehensive body-building device capable of stepless regulating resistance
  Yang W, Linghui Xu, Yang C, Cao B, Yu L, Peng Z
  CN112386858A, 2020
• Intelligent fitness load control system based on online self-adaptive prediction neural network
  Yang W, Linghui Xu, Yang C, Cao B, Yu L, Peng Z
  CN112370746A, 2021
• Device capable of realizing rehabilitation by linkage of cervical vertebra and lumbar vertebra (*)
  Yang W, Linghui Xu, Yang C, Cao B, Yu L, Peng Z
  CN112354147A, 2021
• Wearable mountain-climbing assistance robot and assistance control method thereof
  Yang W, Liu X, Gu H, Linghui Xu, Yang Y, Yu L
  CN112675504A, 2021
• Soft robot and sound wave driving method thereof
  Xia Q, Chen Y, Zhang S, Yang C, Liu C, Shang F, Linghui Xu, Yang W
  CN113119075A, 2021
• High-sealing type medical mask
  Yang W, Zhang S, Yang C, Jin B, Linghui Xu, Yu L
  CN112471641A, 2021
• A security monitoring system and method
  Zhang S, Chen Y, Xia Q, Linghui Xu, Shang F, Liu C
  CN113518204A, 2021
• Old people falling risk assessment method and system
  Yang C, Linghui Xu, Ma Z, Wu X, Yang W
  CN111243229A, 2020
• Intelligent fitness system and adjustable constant-resistance output device (*)
  Yang W, Linghui Xu, Luo Q, Wang F
  CN212038768U, 2020
• Lower limb rehabilitation training exoskeleton system and its walking control method and hip joint structure (*)
  Yang C, Yang W, Linghui Xu, Wang H, Wei Q, Ma Z
  CN108392378B, 2018

(*): Granted patent.

Honors and Awards

• Graduate of Merits, Zhejiang University, 2021

More

• Shandong Lingong Scholarship for Graduate Students, 2021
• Graduate Students Outstanding Scholarship, Zhejiang University, 2019
• AIIA Cup Artificial Intelligence Tour - Medical Artificial Intelligence Competition Merit Award, 2018
• Third-class Scholarship for Outstanding Students, Zhejiang University, 2016[Cert.]
• Third-class Scholarship for Outstanding Merits, Zhejiang University, 2016[Cert.]

Academic Exchanges

• Zhejiang University - Kyoto University, Kyoto, Japan (online), 2020

Projects

EPOS4/EPOS2 CanOpen Controller EPOS2/4 CanOpen Controller project is the implementation of CanOpen with STM32f103 to communicate with EPOS4, EPOS2 or even any other system carrying CanOpen protocol. Particularly, this project can help you control portable or static multiple-motor system in realtime and low cost based on EPOS motor contorler.	Rehabilitation Exoskeleton Rehabilitation Exoskeleton project involves in designing a lower-limb rehabilitation exoskeleton system for people with walking disorder. It has six active degree of freedoms at hip and knee joints, and three passive degree of freedoms at ankle joints. The system uses a simple STM32 MCU board as main controller, EPOS4 as motor controllers, and maxon motors as actuators. The exoskeleton combines real-time trajectory planning and motor impedence control technologies. It can regulate the individual rehabilitation trajectory and motor siffness to maxmium the effect of its rehabilitation results.
Portable Hip Exoskeleton This project involves in designing a portable hip exoskeleton system for reducing human effort during walking. It has two active degree of freedoms at hip joints, and 6 passive degree of freedoms at hip joints and hip bandages. The system implemented real-time human motion recognition methods and Human-in-loop optimization technology through percept human kinematics signals in realtime using a simple STM32 MCU. It can precisely recognize human locomotion phase in multiply terrains and provide individual optimial assistive torque.	PGRS This project involves in a low-cost pathological gait-recognition system (PGRS) for children. PGRS can monitor the gait pattern of a child and recognize pathological gaits which will lead to terrible diseases if left unattended, such as osteoarthritis or scoliosis. Consequently, proper therapeutic measures can be recommended to avoid the terrible consequence.