基本信息

李剑锋，男，1964年4月生，工学博士，北京工业大学机械与能源工程学院教授。1986年6月在甘肃工业大学（现兰州理工大学）机械工程二系获得学士学位；1989年6月在燕山大学机械工程系获得硕士学位；1999年6月在北京航空航天大学机器人研究所获得博士学位。主要从事机器人机构学与康复医疗机器人技术研究，承担国家自然科学基金项目、北京市自然科学基金项目、国家重点研发计划项目课题、北京市科技发展计划项目课题及企事业委托技术研发项目等20余项，发表相关SCI/EI论文100余篇，发明专利授权50余件，软件著作登记10余项。

工作经历

（1）2001.07-至今，北京工业大学，机械与能源工程学院，讲师、副教授、教授。

（2）1999.07-2001.06，清华大学，精密仪器与机械学系，制造工程研究所，博士后。

（3）1986.07-1999.06，甘肃工业大学，机械设计与制造工程系，助教、讲师。

研究方向

机器人机构学、肢体康复机器人与骨外科机器人技术。

科研项目

（1）国家自然科学基金面上项目，足踝畸形矫治并联外固定器的构型综合、精度设计及矫治路径规划方法与辅助矫治技术研究，2022.01-2025.12，主持人。

（2）国家重点研发计划“智能机器人”重点专项课题，可重构半失能老人肌力训练机器人，2019.06-2022.05，主持人。

（3）国家自然科学基金面上项目，上肢康复外骨骼机构的人机工效学设计方法与性能实验研究，2017.01-2020.12，主持人。

（4）北京市自然科学基金重点项目，上肢康复机器人的物理人机交互性能优化与柔顺交互控制策略研究，2017.01-2020.12，主持人。

（5）国家自然科学基金面上项目，下肢康复机器人机构的人机相容性构型综合与运动协同性优化设计研究，2013.01-2016.12，主持人。

发表论文

[1]Yu Zhou, Jianfeng Li, Shiping Zuo, Jie Zhang, Mingjie Dong*, Zhongbo Sun*. An online estimating framework for ankle actively exerted torque under multi-dof coupled dynamic motions via semg. IEEE Transactions on Neural Systems and Rehabilitation Engineering, Doi: 10.1109/TNSRE.2024.3515966.

[2]Ju Jie, Dong Mingjie, Zuo Guoyu, Li Jianfeng, Zuo Shiping*. Mechatronic 5-DOF parallel external fixator with correction-assisted software for correcting foot-ankle deformities. IEEE/ASME Transactions on Mechatronics, Doi: 10.1109/TMECH.2024.3432804.

[3]Li Jianfeng, Liu Wenjie, Li Haozhe, Jiao Ran, Dong Mingjie*. Nonlinear observer-based sliding mode control for robot-aided bilateral human-compliant rehabilitation training of upper limb. IEEE Transactions on Automation Science and Engineering, Doi: 10.1109/TASE.2024.3499329.

[4]Zhang Leiyu, Chang Yawei, Zhang Feiran*, Li Jianfeng*. A review on combined strategy of non-invasive brain stimulation and robotic therapy. Chinese Journal of Mechanical Engineering, Doi: 10.1186/s10033-024-01106-5.

[5]Wang Yu, Dong Mingjie, Zuo Guoyu, Li Jianfeng, Ju Jie, Ma Qianhui, Zuo Shiping*. POE-based error modeling and multiple plane constraint-based parameter identification for the kinematic calibration of a 4-UPS/SPR parallel external fixator. Applied Mathematical Modelling, 2024, (133): 394-413.

[6]Li, Jianfeng, Wang Xin, Jiao Ran*, Dong Mingjie. Asymmetric Integral barrier lyapunov function- based human-robot interaction control for human-compliant space-constrained muscle strength. Training. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, 54(7): 4305-4317.

[7]Li Guotong*, Tang Xiaoqiang, Li Jianfeng, Dong Mingjie. A novel approach to characterize the correction path features for the tibia deformity correction. Biomedical Engineering Letters, 2024, 14(3): 511-521.

[8]Zhou Yu,Li Jianfeng,Dong Mingjie*.Prediction ofactivelyexertedtorquefromanklejointcomplexbased onmusclesynergy.IEEE Transactions on Industrial Electronics,2024, 71(22):1729-1737.

[9]Leiyu Zhang, Zhendong Yu, Peng Su*, Jianfeng Li*, Ruidong Ge. Design of a parallel wrist rehabilitation robot and analysis of physiological effect on training. IEEE/ASME Transactions on Mechatronics, 2024, 29(5): 3401-3414,

[10]Ran Jiao, Wenjie Liu, Ramy Rashad, Jianfeng Li*, Mingjie Dong, Stefano Stramigioli. A novel robotic system enabling multiple bilateral upper limb rehabilitation training via an admittance controller and force field. Mechatronics, 2024, (97) 103112: 1-11.

[11]Dong Mingjie,Wang Zeyu,Li Jianfeng*,Rong Xi,Zhou Yu,Jiao Ran. Evaluation of different robot-assisted ankle muscle strength training modes based on angle/torque and sEMG characteristics. IEEE Transactions on Medical Robotics and Bionics, 2023, 5(2): 401-410.

[12]Li Jianfeng, Zhou Yu, Dong Mingjie*, Rong, Xi, Jiao Ran. Clinically oriented ankle rehabilitation robot with a novel mechanism. Robotica, 2023, 41(1): 277-291.

[13]Jiao Ran, Rong Yongfeng, Dong Mingjie, Li Jianfeng*. Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system. Industrial Robot, 2023, 50(5): 740-752.

[14]Li Guotong*, Tang Xiaoqiang, Li Jianfeng, Dong, Mingjie. Error identification and compensation regarding the kinematic parameter of the MD-PEF for tibial deformity correction. Computers in Biology and Medicine, 2023, (158) 106813: 1-10.

[15]Li Jianfeng, Fang Qiulin, Dong Mingjie*, Rong Xi, Jiang Liwei, Jiao Ran. Reconfigurable muscle strength training robot with multi-mode training for 17 joint movements. Journal of Bionic Engineering, 2023, 20(1): 212-224.

[16]Li Jianfeng, Wang Shuang, Zuo Shiping, Dong Mingjie*, Jiao Ran. A 3-DOF electromotor-driven external fixator for foot and ankle deformity correction based on X-ray digital measurement. International Journal of Medical Robotics and Computer Assisted Surgery, 2023, 19(3): 1-17.

[17]Zuo Shiping, Li Jianfeng, Dong Mingjie*, Jiao Ran, Wang Shuang, Ju Jie, Wang Yu. Design of composite parallel external fixator for multisegment foot and ankle deformity correction: a correction requirement- dominated approach. IEEE/ASME Transactions on Mechatronics, 2023, 28(4): 2271-2281.

[18]Li Jianfeng, Zhou Yu, Dong Mingjie*, Rong Xi. Isokinetic muscle strength training strategy of an ankle rehabilitation robot based on adaptive gain and cascade PID control. IEEE Transactions on Cognitive and Developmental Systems, 2023, 15(1): 100-110.

[19]Zhang Leiyu, Ye Tuxian, Zhang Feiran*, Li Jianfeng*. Design and dynamic modelling of chain telescopic robot. Mechanism and Machine Theory. 2023, (181) 105204: 1-19.

[20]Dong Mingjie, Fan, Wenpei, Li Jianfeng*, Zhang Pengfei. Patient-specific exercises with the development of an end-effector type upper limb rehabilitation robot. Journal of Healthcare Engineering, 2022, 4125606: 1-10.

[21]Zuo Shiping, Dong Mingjie*, Tao Chunjing, Jiao Ran, Li Guotong, Li Jianfeng. Configuration synthesis and structural design of lower-mobility parallel external fixators based on corrective degree-of-freedom classification. Mechanism and Machine Theory, 2022, 168(104593): 1-16.

[22]Li Jianfeng, Kong Yuan, Dong Mingjie*, Jiao Ran. Development of a linear-parallel and self-adaptive under-actuated hand compensated for the four-link and sliding base mechanism. Robotica, 2022, 40(6): 2047-2064.

[23]Cao Qiang,Li Jianfeng,Dong, Mingjie*. Comparative analysis of three categories of four-DOFs exoskeleton mechanism based on relative movement offsets. Industrial Robot, 2022, 49(4): 672-687.

[24]Zuo Shiping,Li Jianfeng,Dong Mingjie*,Tao Chunjing,Jiao Ran; Li Guotong. Towards collision detection in foot and ankle deformity correction using parallel external fixator: A novel analytical approach.Applied Mathematical Modelling,2022,112:324-340.

[25]Zuo Shiping,Li Jianfeng,Dong Mingjie*. Design, modeling, and manipulability evaluation of a novel four-DOF parallel gripper for dexterous in-hand manipulation. Journal of Mechanical Science and Technology, 2021, 35(7): 3145-3160.

[26]Li Guotong,Li Jianfeng,Zuo Shiping,Dong Mingjie*. Influence of parameter deviation on the closeness of the tibial limb and external fixator based on a novel collision detection algorithm. International Journal for Numerical Methods in Biomedical Engineering, 2021, 37(7): 1-18.

[27]Mingjie Dong, Yu Zhou, Jianfeng Li*, Xi Rong, Wenpei Fan, Xiaodong Zhou, Yuan Kong. State of the art in parallel ankle rehabilitation robot: a systematic review. Journal of NeuroEngineering and Rehabilitation, 2021, 18(1): 52-66.

[28]Jianfeng Li, Qiang Cao, Mingjie Dong*, Chunzhao Zhang. Compatibility evaluation of a 4-DOF ergonomic exoskeleton for upper limb rehabilitation. Mechanism and Machine Theory, 156(2021), 104146: 1-15.

[29]Mingjie Dong, Wenpei Fan, Jianfeng Li*, Xiaodong Zhou, Yuan kong, Yu Zhou. A new ankle robotic system enabling whole-stage compliance rehabilitation training. IEEE/ASME Transactions on Mechatronics, 2021, 26(3): 1490-1500.

[30]Leiyu Zhang, Jianfeng Li*, Ying Cui, Mingjie Dong, Bin Fang, Pengfei Zhang. Design and performance analysis of a parallel wrist rehabilitation robot (PWRR). Robotics and Autonomous Systems. Robotics and Autonomous Systems 125 (2020), 103390: 1-11.

[31]Chunzhao Zhang, Mingjie Dong, Jianfeng Li*, and Qiang Cao. A modified kinematic model of shoulder complex based on Vicon motion capturing system: Generalized GH joint with floating centre. Sensors, 2020, 20(13): 1-23.

[32]Li Jianfeng, Zhang Leiyu*, Dong Mingjie, Zuo Shiping, He Yandong, and Zhang Pengfei. Velocity and force transfer performance analysis of a parallel hip assistive mechanism. Robotia, 38 (2020): 747-759.

[33]Shiping Zuo, Jianfeng Li, Mingjie Dong*, Xiaodong Zhou, Wenpei Fan, Yuan Kong. Design and performance evaluation of a novel wearable parallel mechanism for ankle rehabilitation. Frontiers in Neurorobotics, 2020, 14(9): 1-14.

[34]Jianfeng Li, Shiping Zuo, Leiyu Zhang* Mingjie Dong, Chunjing Tao, and Run Ji. Mechanical design and performance analysis of a novel parallel robot for ankle rehabilitation. ASME Journal of Mechanisms and Robotics, 2020, 12(5), 051007: 1-17.

[35]Li Jianfeng,Fan Wenpei,Dong Mingjie*,Rong Xi. Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety. Industrial Robot, 2020, 47(5): 747-755.

[36]Mingjie Dong, Yuan Kong, Jianfeng Li*, Wenpei Fan. Kinematic calibration of a parallel 2-UPS/RRR ankle rehabilitation robot. Journal of Healthcare Engineering, 2020(3053629): 1-16.

[37]Jianfeng Li, Shiping Zuo, Leiyu Zhang*, Chunjing Tao, Run Ji. Influence of a compatible design on physical human-robot interaction force: a case study of a self-adapting lower-limb exoskeleton mechanism. Journal of Intelligent & Robotic Systems, 2020, 98(2): 525-538.

[38]Jianfeng Li, Guotong Li*, Xiaojie Hu, Mingjie Dong, Chunjing Tao and Run Ji. Investigation of correction trajectory considering bone end-plane orientation and the shortest growth path. Journal of Biomechanical Engineering-Transactions of the ASME, 2020, 142(10), 101003: 1-15.

[39]Jianfeng Li, Guotong Li*, Mingjie Dong, Ying Chen, Shiping Zuo. Comparison of three different correction trajectories for foot and ankle deformity treated by supramalleolar osteotomy using a novel external fixator. Int J Numer Meth Biomed Enging, 2020, 36(12), e3400: 1-21.

[40]Shiping Zuo, Mingjie, Dong. Jianfeng Li*, Chunjing Tao* and Run Ji. Configuration design and correction ability evaluation of a novel external fixator for foot and ankle deformity treated by U osteotomy. Medical & Biological Engineering & Computing, 2020, 58(3): 541-558.

[41]Jianfeng Li, Qiang Cao*, Chunzhao Zhang, Chunjing Tao, Run Ji. Position solution of a novel four- DOF self-aligning exoskeleton mechanism for upper limb rehabilitation. Mechanism and Machine Theory, 141 (2019): 14-39.

[42]Leiyu Zhang, Jianfeng Li*, Peng Su, Mingjie Dong, Qiang Cao. Improvement of human-machine compatibility of upper-limb rehabilitation exoskeleton using passive joints, Robotics and Autonomous Systems, 112 (2019): 22-31.

[43]Li Jianfeng*, Li Shicai, Zhang Leiyu, Tao Chunjing and Ji Run. Position solution and kinematic interference analysis of a novel parallel hip-assistive mechanism. Mechanism and Machine Theory, 120 (2018): 265-287.

[44]Leiyu Zhang, Jianfeng Li*, Junhui Liu, Peng Su and Chunzhao Zhang. Design and kinematic analysis of co-exoskeleton with passive translational joints for upper-limb rehabilitation. International Journal of Humanoid Robotics, 2018, 15(5): 23-37.

[45]Xia Zhao, Jianfeng Li*. The influence of pin deviation on the fracture correction and the fixator adjustment with sensitivity and kinematic analysis. Biomed Research International, 2018, 18(5): 1-16.

[46]Jianfeng Li, Xia Zhao*, Xiaojie Hu, Chunjing Tao, Run Ji. Numerical investigation of the relationship between pin deviations and joint coordinates of a unilateral external fixator. Clinical Biomechanics, 2018, 53(2): 107- 116.

[47]Jianfeng Li, Xia Zhao*, Xiaojie Hu, Chunjing Tao and Run Ji. A finite element analysis for monitoring the healing progression of fixator-bone system under three loading conditions. Bio-Medical Materials and Engineering, 2018, 29(4): 473-483.

[48]张雷雨李剑锋*刘钧辉 侯增广 彭亮 王卫群.上肢康复外骨骼的设计与人机相容性分析.机械工程学报，2018, 54(5): 20-28.

[49]Li Jianfeng*, Zhang Ziqiang, Tao Chunjing, Ji Run. A number synthesis method of the self-adapting upper-limb rehabilitation exoskeletons. Int. J. of Advanced Robotic Systems, 2017, 14(3): 1-14.

[50]李剑锋*,徐成辉,陶春静,季润,李世才,张兆晶.基于3-UPS/RRR的并联踝关节康复机构及其性能分析.自动化学报, 2016, 42(12): 1794-1807.

招生方向

学术型硕士-080200机械工程04方向：机电系统控制及传动

专业型硕士-0855001机械03方向：机电液一体化设计与制造

学术博士研究生-080200机械工程06方向：机构及机器人系统分析与控制

专业博士研究生-085500机械03方向：机电液一体化设计与制造

联系方式

E-mail：lijianfeng@bjut.edu.cn