2025.10
— 2026.04
The University of Tokyo东京大学
Special Research Student · Graduate School of Engineering工学系研究科 · 特别研究学生
Jiahang
Liu刘佳杭
WELCOME TO MY HOME PAGE!欢迎来到我的主页！
I am an M.S. candidate in Mechanical Engineering at Dalian University of Technology and a former Special Research Student at The University of Tokyo. My research explores multimodal fusion of vision and sEMG for hand-motion understanding, human-intent perception, and dexterous teleoperation.
我是大连理工大学机械工程硕士研究生，曾赴东京大学担任特别研究学生。我的研究聚焦视觉与表面肌电的多模态融合，用于手部运动理解、人体意图感知与灵巧遥操作。
I believe human-robot interaction is shaped by more than technology: aesthetics is also fundamental to how interaction is perceived and experienced. This belief connects my robotics research with my work across industrial design projects.我认为，人机交互不仅由技术塑造，美学同样影响交互被感知和体验的方式。因此，我也参与了多个工业设计项目，并将工程研究与产品美学贯穿于同一套实践之中。
Based in所在地Dalian, China
ORCID0009-0005-8706-3198Foundation学术基础
Education教育经历
2024.09
— 2027.07
Dalian University of Technology大连理工大学
M.S. Student · Mechanical Engineering机械工程 · 硕士研究生
2020.09
— 2024.07
Dalian University of Technology大连理工大学
B.Eng. · Mechanical Design, Manufacturing and Automation机械设计制造及其自动化 · 工学学士
Peer-reviewed work同行评议成果
Publications发表论文
IEEE Robotics and Automation Letters · 2026 · First author
Precise Hand-Arm Teleoperation of a Dexterous Robotic Manipulator via Markerless Vision and High-Density sEMG Fusion
Jiahang Liu, Zhipeng Li, Renzhen Le, Xiao Zhang, Naohiko Sugita, Zhenzhi Ying, Liming Shu
IEEE/ASME Transactions on Mechatronics · 2026 · Accepted
VEMG-TeleGrasp: A Stiffness-Aware Teleoperation Framework for Dexterous Manipulation via Multimodal Fusion
Zhenzhi Ying, Wenbo Zhang, Jiahang Liu, Jiaze Sun, et al.
Project Experience项目经历
Research科研经历
Current research · Under Review当前研究 · 审稿中
Continuous Multi-Joint Hand Angle Estimation via Single RGB Image and High-Density sEMG Fusion
Dalian University of Technology / University of Tokyo
2025.09 — PRESENT至今
Continuous 20-DoF hand joint-angle regression from egocentric vision and 128-channel high-density sEMG using joint-specific multimodal queries.融合第一视角视觉与 128 通道高密度表面肌电，通过面向关节的多模态查询连续回归 20 自由度手部关节角。
- Synchronized egocentric RGB, two 64-channel HD-sEMG arrays, and Vicon joint-angle ground truth.同步采集第一视角 RGB、两组 64 通道高密度肌电与 Vicon 关节角真值。
- Designed DoF queries that retrieve joint-specific evidence from visual spatial tokens and EMG temporal tokens.设计自由度查询，从视觉空间令牌与肌电时间令牌中提取面向关节的证据。
- Evaluated robustness under visual occlusion and analyzed the model's adaptive use of EMG evidence.评估视觉遮挡下的鲁棒性，并分析模型对肌电证据的自适应利用。
20hand DoFs手部自由度
128sEMG channels肌电通道
0.88mean R²平均 R²
2.8°mean MAE平均 MAE
Precise Hand–Arm Teleoperation System via Markerless Vision and High-Density sEMG Fusion
Dalian University of Technology
2024.09 — 2025.07
- Estimated global hand-arm pose from RGB-D and validated markerless tracking against Vicon ground truth.基于 RGB-D 估计全局手臂位姿，并使用 Vicon 真值验证无标记跟踪精度。
- Fused visual keypoints and HD-sEMG for gesture recognition and finger-force regression.融合视觉关键点与高密度肌电，实现手势识别和手指力回归。
- Built a wireless ROS2 system mapping posture, gesture, and grasp force to a dexterous manipulator.构建无线 ROS2 系统，将姿态、手势与抓握力实时映射至灵巧机械臂。
A Distributed High-Density sEMG-driven Soft Glove System for Stroke Rehabilitation
Bachelor graduation thesis · Dalian University of Technology本科毕业设计 · 大连理工大学
2023.10 — 2024.07
- Developed a pneumatic glove supporting independent finger flexion and abduction.开发气动软体手套，实现手指独立屈曲与外展。
- Designed an HD-sEMG sleeve and optimized electrodes through energy mapping and impedance analysis.设计高密度肌电采集袖套，并通过能量分布映射和阻抗分析优化电极布局。
- Evaluated machine-learning models and adopted a PSO-optimized network for five-gesture classification.评估多种机器学习模型，最终采用 PSO 优化神经网络完成五类手势识别。
Form, structure, and product thinking形态、结构与产品思维
Design设计作品
Aesthetics is an integral part of interaction.美学，决定交互如何被感知。
As Design Director at Venture Electronics, I work across product form, enclosure architecture, and visual communication for personal-audio hardware. I also design research hardware at Dalian University of Technology, centered on high-density sEMG acquisition systems.
作为 Venture Electronics 设计总监，我参与个人音频硬件的产品形态、外壳结构与视觉表达。同时，我也在大连理工大学参与高密度表面肌电采集系统相关的科研硬件设计。
Design Director设计总监
Venture Electronics
Research hardware科研硬件
High-Density sEMG Acquisition Module高密度肌电采集器模块
Dalian University of Technology
Toolbox & character工具与个性
Skills技能
Programming编程
Python · PyTorch · PyTorch Lightning · OpenCV · MuJoCo · MATLAB · ROS2
Design设计
Rhino · Autodesk Inventor · KeyShot
Languages语言
Mandarin · Native
English · CET-6 535中文 · 母语
英语 · CET-6 535
Beyond the lab实验室之外
Click here点击这里
Outside the lab实验室之外
Life in
motion.生活
在流动。
The same curiosity, expressed through sound, movement, conversation, and craft.同一种好奇心，在声音、运动、交流与手作中延续。
Five directions五个方向