Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot. - Bingshan Hu; Binghao Mao; Sheng Lu; Hongliu Yu (Frontiers Neurorobotics, 2022)

Design of Regeneration Energy Recovery Controller for Active Multi-axis Lower Limb Exoskeleton. - Fengchen Liu; Lin Zhang; Binghao Mao; Zhiwei Chen; Bingshan Hu; Hongliu Yu (RCAR, 2023)