Jiahang
Liu

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 combines egocentric vision and high-density 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。我的研究融合第一视角视觉与高密度表面肌电，聚焦手部运动理解、人体意图感知与灵巧遥操作。

Emailjiahangliupro@gmail.com Phone电话+86 135 5589 5355

Based in所在地Dalian, China

ORCID0009-0005-8706-3198

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Foundation学术基础

Education教育经历

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

Tokyo, Japan

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

Dalian, China

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

GPA 3.35 / 4.00 · Social Practice ScholarshipGPA 3.35 / 4.00 · 社会实践奖学金

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.

Selected applied research代表性应用研究

Projects项目经历

2024.09 — present至今

Current research · Manuscript in preparation当前研究 · 论文撰写中

DoF-Query Fusion

Dalian University of Technology

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

DoF-Query multimodal fusion architecture — 01DoF-Query fusion architectureDoF-Query 融合架构

Vicon and HD-sEMG experiment setup — 02Synchronized acquisition setup同步数据采集系统

Ground truth and reconstructed hand poses — 03Hand-pose reconstruction手部姿态重建

Hand regression robustness under visual occlusion — 04Occlusion robustness遮挡鲁棒性

2024.09 — 2025.07

Markerless Vision + HD-sEMG Dexterous Teleoperation无标记视觉与高密度肌电灵巧遥操作

Dalian University of Technology

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。

2023.10 — 2024.07

HD-sEMG-driven Soft Rehabilitation Glove高密度肌电驱动软体康复手套

Bachelor graduation thesis · Dalian University of Technology本科毕业设计 · 大连理工大学

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.美学是交互的重要组成部分。

I serve as Design Director at Venture Electronics (VE), working across product form, enclosure architecture, and visual communication for personal-audio hardware. At Dalian University of Technology, I also design research hardware centered on a wearable high-density sEMG acquisition system.

我担任 Venture Electronics（VE）设计总监，负责个人音频硬件的产品形态、外壳结构与视觉表达。在大连理工大学，我也参与科研硬件设计，重点围绕可穿戴高密度表面肌电采集系统展开。

Design Director设计总监

Venture Electronics

Visit VE访问 VE

Low Poly

Coming soon

Galvatron

Portable Audio Interface便携式音频接口

Coming soon

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

Wearable System Concept可穿戴采集系统概念

Wireless Acquisition Module无线采集模块

Portable Acquisition Workstation便携式采集工作站

Toolbox & character工具与个性

Skills技能

Programming编程

Python · PyTorch · PyTorch Lightning · OpenCV · 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

Soccer · HiFi · Singing · Billiards · Coffee足球 · HiFi · 唱歌 · 台球 · 咖啡

Jiahang
Liu