Web Based Teleoperation of a Humanoid Robot. - Chien-Liang Fok; Fei Sun; Matt Mangum; Aloysius K. Mok; Binghan He; Luis Sentis (CoRR, 2016)

Safety Control Synthesis with Input Limits: a Hybrid Approach. - Gray C. Thomas; Binghan He; Luis Sentis (ACC, 2018)

Decentralized Control Systems Laboratory Using Human-Centered Robotic Actuators. - Binghan He; Kunye Chen; Rachel Schlossman; Neal Ormsbee; Mara Altman; Nathan Young; Matt Mangum; Luis Sentis (CoRR, 2018)

Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. - Binghan He; Gray C. Thomas; Nicholas Paine; Luis Sentis (ACC, 2019)

Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. - Binghan He; Huang Huang; Gray C. Thomas; Luis Sentis (IROS, 2019)

Robust Estimator-Based Safety Verification: A Vector Norm Approach. - Binghan He; Gray C. Thomas; Luis Sentis (ACC, 2020)

Adaptive Compliance Shaping with Human Impedance Estimation. - Huang Huang; Henry F. Cappel; Gray C. Thomas; Binghan He; Luis Sentis (ACC, 2020)

BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning. - Binghan He; Jaemin Lee; Ufuk Topcu; Luis Sentis (CDC, 2020)

A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control. - Binghan He; Huang Huang; Gray C. Thomas; Luis Sentis (CoRR, 2020)

A Barrier Pair Method for Safe Human-Robot Shared Autonomy. - Binghan He; Mahsa Ghasemi; Ufuk Topcu; Luis Sentis (CDC, 2021)

Biologically-Inspired Impedance Control With Hysteretic Damping. - Nicolas Brissonneau; Binghan He; Gray C. Thomas; Luis Sentis (IEEE Control. Syst. Lett., 2021)

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons. - Gray C. Thomas; Orion Campbell; Nick Nichols; Nicolas Brissonneau; Binghan He; Joshua James; Nicholas Paine; Luis Sentis (Frontiers Robotics AI, 2021)

Robust Fault Detection and Safety Control for Physical Human-Robot Interaction. - Binghan He; Takashi Tanaka (ACC, 2022)

Barrier Pairs for Safety Control of Uncertain Output Feedback Systems. - Binghan He; Takashi Tanaka (ACC, 2023)

Safety Control of Uncertain Lagrangian Systems Using Dynamic Output Feedback Barrier Pairs. - Binghan He; Takashi Tanaka (CoRR, 2023)

Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners. - Binghan He; Naichen Zhao; David Y. Guo; Charles H. Paxson; Ronald S. Fearing (CoRR, 2024)

Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs. - Binghan He; Takashi Tanaka (IEEE Trans. Autom. Control., 2025)