About
Education
Degrees
2019-2023: Ph.D. from Engineering@NUS
2015-2019: B.E. from Mechanical Engineering@SUSTech
Publications
Journals
Z. Lu and H. Yu, "GTac-Hand: A Robotic Hand With Integrated Tactile Sensing and Extrinsic Contact Sensing Capabilities," in IEEE/ASME Transactions on Mechatronics, Apr 2023, doi: 10.1109/TMECH.2023.3264650. [link][video]
H. Zhang*, Z. Lu*, W. Liang, H. Yu, Y. Mao and Y. Wu, "Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback," in IEEE Robotics and Automation Letters, vol. 8, no. 5, pp. 2700-2707, May 2023, doi: 10.1109/LRA.2023.3257680. [*equal contributions]
Zeyu Lu, Haotian Guo, Wensi Zhang and Haoyong Yu, "GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper With Tactile Sensing," in IEEE Robotics and Automation Letters, 2022, doi: 10.1109/LRA.2022.3181370. [link][video]
Zeyu Lu, Xingyu Gao, and Haoyong Yu, "GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots," in IEEE Sensors Journal, 2022, doi: 10.1109/JSEN.2022.3181128. [link][video]
Zhang, Kuangen, Jianwen Luo, Wentao Xiao, Wen Zhang, Haiyuan Liu, Jiale Zhu, Zeyu Lu, Yiming Rong, Clarence W. de Silva, and Chenglong Fu. 2021. “A Subvision System for Enhancing the Environmental Adaptability of the Powered Transfemoral Prosthesis.” IEEE Transactions on Cybernetics 51 (6): 3285–97. [link]
Leng, Yuquan, Xin Lin, Zeyu Lu, Aiguo Song, Zhangguo Yu, and Chenglong Fu. 2020. “A Model to Predict Ground Reaction Force for Elastically-Suspended Backpacks.” Gait & Posture 82 (October): 118–25. [link]
H. H. Cheng, T. M. Kwok, Z. Lu and H. Yu, "GTac-SE: A Low-Density Intention Sensing for Forearm Exoskeleton With Shear Force Sensors," in IEEE Sensors Journal, vol. 25, no. 2, pp. 2963-2977, 15 Jan.15, 2025, doi: 10.1109/JSEN.2024.3496904
Conferences
Zeyu Lu, Haotian Guo, Wensi Zhang, and Haoyong Yu, "GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper With Tactile Sensing," in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [link]
Zeyu Lu, Ashwin Narayan, and Haoyong Yu. 2020. “A Deep Learning Based End-to-End Locomotion Mode Detection Method for Lower Limb Wearable Robot Control.” In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4091–97. [link] [video]
Patents
Z. Lu, H. Yu. “A Method of Tactile Force Sensing – GTac”, Int., WO2023277794, Jan 2023.
Z. Lu, Y. Leng, J. Li, X. Lin, C. Fu, "A Backpack" CN110051106B, Feb 2023.
C. Fu, Y. Leng, Z. Lu, et al. “A Suspended Backpack”, CN210841945U, Sep 2019.
Peer-Reviewed Workshops:
Z. Lu, et al., “GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots,” RoboTac Workshop at IROS2022, Kyoto Japan, Oct 2022.
Z. Lu, et al., “GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper with Tactile Sensing,” RoboTac Workshop at IROS2022, Kyoto Japan, Oct 2022.
Z. Lu, et al, “GTac-Hand: A Robotic Hand with Integrated Biomimetic Tactile Sensing and ECS Recognition Capabilities,” RoMaDO-SI Workshop at IROS2022, Kyoto Japan, Oct 2022.
Presentations
Contributed paper presentation @ RoMaDO-SI Workshop @ IROS2022, Kyoto Japan, Oct 2022
Two Contributed paper presentations @ RoboTac Workshop @ IROS2022, Kyoto Japan, Oct 2022
Contributed paper presentation @ Grasping @ IROS2022, Kyoto Japan, Oct 2022
Teaching
Co-Facilitator of Respect and Consent Workshop
Awards
2017/8: Third prize and excellence award in the 11th National Zhou Peiyuan College Student Mechanics Competition
2018/4: “The Best Group” Award in 2018 World Robot Contest-Tri-Co Robots
2019/3: PhD Research Scholarship from NUS (special thank for supporting me to pursue the PhD degree.)
2022/8: The Audience’s Choice at the 3MT competition in NUS
Academic Sevices
Reviewer:
IEEE/ASME Transactions on Mechatronics
Frontiers in Neurorobotics
IEEE ICRA 2023
IEEE ICRA 2024
IEEE Robotics and Automation Letters
IEEE IECON 2023
IEEE Transactions on Automation Science and Engineering
IEEE Transactions on Industrial Electronics
CISRAM24
27th IEEE International Conference on Intelligent Transportation Systems
News & Announcements
Mar 2023: Our paper on GTac-Hand has been accepted by IEEE/ASME T-Mech!
Sep 2022: Our papers on GTac sensor and GTac-Hand were accepted, and we were invited to present at the RoboTac2022 workshop at IROS 2022 in Kyoto, Japan.
Sep 2022: Our paper on GTac-Gripper was accepted, and we were invited to present at the ROMADO-SI workshop at IROS 2022 in Kyoto, Japan.
Aug 2022: We were honored to be selected as the Audience’s Choice at the 3MT Competition at NUS. [Twitter]
Jun 2022: Our paper on GTac sensors has been accepted by the IEEE Sensors Journal. For more details, please visit the [project page].
May 2022: Our paper on GTac-Gripper has been accepted by IEEE RA-L. For more details, please visit the [project page].
Jan 2022: We posted our paper on GTac to arXiv—it is currently under peer review. For more information, see this link or visit the project page.