【概况】

史超阳，天津大学机械工程学院教授/博导，北洋学者菁英教授，国家海外高层次人才；主要从事医疗机器人技术方向研究，发表一作/通讯高水平英文期刊论文90余篇，包含5篇封面论文（Cover Article）与5篇特色文章（Featured Article），连续入选“World's Top 2% Scientists”；主持多项国家级科研项目，包括中组部人才项目、国家自然基金重点项目、国家自然基金面上项目（2项）与国际合作项目等。

【教育背景】

东北大学 学士 哈尔滨工业大学 硕士 日本名古屋大学 博士; PhD, Nagoya University, Japan导师：福田敏男 (Toshio Fukuda)

【学术经历】

英国帝国理工 博士后; Postdoc, Imperial College London, UK 加拿大多伦多大学 博士后; Postdoc, University of Toronto, Canada 2019/03---至今，天津大学机械工程学院菁英教授/博导 2025/01-2025/03 香港中文大学 荣誉访问学者

【讲授课程】

正在讲授/负责的课程： 教学思路：操作机器臂+移动平台类机器人技术+智能交互 本科生课程（新工科课程）：《机器人学基础》（56学时）、《自主移动机器人》（图像处理与SLAM部分，16学时） 研究生课程：《智能机器人技术》（32学时）、《机器人与人工智能技术》（32学时，讲述强化学习与深度学习）、《康复与人形机器人》（32学时） 已讲授过的课程： 本科生课程：《控制工程基础》、《机器人技术概论》、《机械工程测试技术》 研究生/博士生课程：《微纳米机器人基础与应用》（合开）、《英文科技论文写作》（合开）

【教学成果】

指导学生获得国家奖学金与各类命名奖学金20多项；指导学生参加机器人技术大赛，获得全国一等奖与特等奖10余项、省级一等奖10余项，并荣获各类优秀指导教师荣誉称号10余项。

【研究方向】

主要研究方向：具身智能手术机器人/手术机器人自主化、微创手术机器人系统开发、人形与康复机器人、智能传感技术（Embodied Intelligence, Autonomous Technology for Surgical Robots,Minimally invasive surgical robot system, Humanoid and Rehabilitation Robots,Smart sensing technology），具体如下： [1] 具身智能手术机器人/手术机器人自主化研究：多模态信息融合、深度强化学习、共享控制、视觉语言动作模型(VLA)、视觉伺服 [2] 经自然腔道手术机器人：连续体手术机器人设计与控制、视觉诊断与导航、自主化介入与操作 [3] 眼科显微外科手术与骨科手术机器人：串/并联手术机器人设计与控制、视觉伺服、自主化介入与共享控制操作 [4] 人形与康复机器人：灵巧手设计与触觉感知、下肢设计与控制、可穿戴康复机器人、人机交互、具身智能操作 [5] 智能感知技术：基于光纤的高精度力/形传感器设计与优化、柔性多模态传感器、多模态信息融合 合作指导/培养的研究方向（Rehabilitation Robotics, Micro-nano robots），具体如下： 康复机器人（与英国高校联合指导）：串并联机构设计与优化（中）、人机交互控制（英） 微纳米机器人（与南方科大、香港高校联合指导）：磁驱动机器人、胶囊机器人、压电陶瓷驱动与操作

【学术兼职】

【科研项目及成果】

发表一作/通讯高水平英文期刊论文90余篇，包含5篇封面论文，连续入选“World's Top 2% Scientists”；主持多项国家级科研项目，包括国家自然基金重点项目、国家自然基金面上项目与国际合作项目等。

【代表性论著】

Journal paper publication in 2026 [1] Y. Xu, J. Liu, J. Hao and C. Shi*,“A Rigid-Flexible Coupled Multi-Section Continuum Robot with Model-Driven Motion Decoupling and Efficient Inverse Kinematics,” IEEE/ASME Transactions on Mechatronics, 10.1109/TMECH.2026.3735070, 2026. [2] Y. Shi, J. Li, D. Song, B. Zhang, Z. Zhang, T. Fukuda, and C. Shi*, “Advances in Transanal Quasi-Single-Port Surgery Robotic Systems: A Comprehensive Review,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 1, pp. 906-920, 2026. [3] D. Huang, Y. Zhang, B. Zhang, Z. Wang, Z. Li, C. Shi*, and C. Hu*, “Wireless Electromagnetic Tracking Using Ultra-Low Frequency Fields for Hardware-Constrained Medical Devices,” IEEE/ASME Transactions on Mechatronics, pp. 1-12, 2026. [4] Y. Yang, Y. Shi, Z. Li, T. Fukuda, and C. Shi*, “Swab Sampling Robotic Systems in COVID-19,” IEEE Transactions on Mechatronics, 10.1109/TMECH.2026.37298452026, 2026 [5] K. Wang, H. Li, Y. Hao, X. Ni, and C. Shi*, “Design of a Wearable FBG-Based Sensor With High Sensitivity for Radial Artery Pulse Waveform Measurement,” IEEE Transactions on Instrumentation and Measurement, vol. 75, pp. 7505911-7505911, 2026. [6] K. Wang, Y. Zhao, and Y. Hao, C. Shi*, “Development of a High-Sensitivity and Wide-Range FBG-Based Finger Angle Sensing Device Utilizing an Ω-Shaped Flexure for Hand Rehabilitation,” IEEE Transactions on Instrumentation and Measurement, vol. 75, pp. 1-12, 2026. [7] C. Shi, Y. Hao, A. Tian, Y. Zhao, B. Zhang, and K. Wang*, “Development of a Novel 2-DoF Wearable Ankle Angle Sensor With an Adjustable Rotation Center,” IEEE Transactions on Instrumentation and Measurement, vol. 75, pp. 1-12, 2026. [8] Y. Hao, A. Tian, P. Xie, B. Zhang, C. Hu, and C. Shi*, “Development of an FBG-enabled 4-D force/torque sensor with high sensitivity and accuracy for percutaneous puncture,” Measurement, vol. 264, pp. 120317, 2026/03/10/, 2026. [9] J. Duan, J. Hao, P. Du, B. Zhang, Z. Zhang, and C. Shi*, “A High-Precision and Robust Geometric Relationships-Inspired Neural Network for the Inverse Kinematic Modeling of the Tendon-Actuated Continuum Manipulator,” Advanced Intelligent Systems, vol. 8, no. 1, pp. 2401027, 2026/01/01, 2026. [10] D. Song, B. Leng, Y. Liu, X. Yu, and C. Shi*, “Development of an Inchworm-Like Dual-Balloon-Assisted Colonoscopic Robot Based on a Two-Segment Extensible Continuum Section,” Advanced Intelligent Systems, vol. n/a, no. n/a, pp. e70535, 2026/08/27, 2026. [11] D. Long, S. Chen, S. Ao, Z. Zhang, C. Hu, and C. Shi*, “Development of a Novel 7-DOF Position-Orientation Decoupled Microsurgical Robot with Motorized Instruments for Microvascular Anastomosis,” IEEE Robotics and Automation Letters, vol. 11, no. 2, pp. 1866-1873, 2026. [12] F. Chen, M. Zeng, J. Li, D. Long, Z. Yang, and C. Shi*, “Development of a Fully Decoupled and Overconstrained Serial–Parallel Hybrid Mechanism With RCM for Endonasal Skull Base Surgery,” IEEE Transactions on Medical Robotics and Bionics, vol. 8, no. 3, pp. 1161-1173, 2026. [13] D. Ma, J. Hao, P. Du, and C. Shi*, “Physics-Constrained Adaptive Uncertainty-Aware Hierarchical Multi-Modal Fusion for Shape Estimation of Continuum Robots,” IEEE Transactions on Automation Science and Engineering, 2026.(conditionally accepted) [14] D. Long, F. Wang, C. Hu*, and C. Shi*, “A Novel Rolling Driving Principle-Enabled Linear Actuator for Bidirectional Smooth Motion,” Cyborg and Bionic Systems, vol. 7, pp. 0424, 2026. [15] Z. Liang, L. Chen, F. Zhang, B. Deng, K. Wang*, and C. Shi*, “Microstructural Engineering of Flexible Sensors: From Uniaxial to Triaxial Force Detection,” Small, pp. e75254, 2026/08/16, 2026. Journal paper publication in 2025 [1] D. Song, X. Yu, B. Leng, B. Zhang, and C. Shi*, “Development of a Miniature 5-DOF Modularized Flexible Instrument With Distal Rotation Capability for Dual-Armed Upper Gastrointestinal Endoscopic Robots,”IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 5041-5052, 2025. [2] J. Li, S. Wang, Z. Zhang, and C. Shi*, “A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping,” IEEE Robotics & Automation Magazine, vol. 32, no. 2, pp. 8-22, 2025. [3] D. Long, F. Wang, S. Chen, C. Hu*, and C. Shi*, “Achieving High Rotary Motion Consistency Based on the Novel Internal-Gear-Mechanism-Inspired Rolling Driving Principle (RDP) With a Single PZT,”IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 7371-7382, 2025. [4] Z. Li, T. Wei, Y. Zhang, Q. Liu, C. Du, C. Shi*, and C. Hu*, “Rotating Multibarreled Capsule Robot for Multiple Biopsies and On-Demand Drug Delivery,” IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 7089-7099, 2025. [5] Y. Xu, D. Song, K. Zhang, and C. Shi*, “Development of a Variable-Pitch Flexible-Screw-Driven Continuum Robot (FSDCR) with Motion Decoupling Capability,”Soft Robotics, vol. 12, no. 3, pp. 350-363, 2025. [6] J. Hao, Y. Zhang, L. Song, Z. Zhang, and C. Shi*, “An Offline-Cascade-Online Learning-Based Algorithm for Distal Trajectory Estimation of Medical Continuum Manipulators,”Advanced Intelligent Systems, vol. 7, no. 7, pp. 2400753, 2025. [7] J. Li, D. Wu, J. Hao, B. Zhang, C. Hu, and C. Shi*, “Development of a Novel DNA-Inspired Continuum Joint (DICJ) for a Robotic Flexible Endoscopic Instrument,”IEEE Transactions on Instrumentation and Measurement, vol. 74, pp. 1-15, 2025. [8] F. Zhang, Y. Hao, A. Tian, Z. Yang, B. Zhang, T. Fukuda, and C. Shi*, “Wearable Fiber Bragg Grating Sensors for Physiological Signal and Body Motion Monitoring: A Review,”IEEE Transactions on Instrumentation and Measurement, vol. 74, pp. 1-24, 2025. [9] Z. Li, X. Fan, D. Long, Z. Yang, and C. Shi*, “A Modular Direct Description Method With Low Memory Usage and Execution Time for Hysteresis Modeling and Compensation of Piezoelectric Actuators,”IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 2819-2830, 2025. [10] D. Song, X. Luo, X. Yu, B. Zhang, Z. Yang, C. Hu, and C. Shi*, “A Phase-Change-Material-Based Variable Stiffness Sheath Inspired by a Multi-Layer Wave Spring Structure for Flexible Upper Gastrointestinal Endoscopic Robots,” IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 6504-6511, 2025. [11] P. Xie, Y. Hao, A. Tian, B. Zhang, C. Hu, and C. Shi*, “Design and Validation of a High-Sensitivity FBG-Based Triaxial Force Sensor With Serially Configured Flexures for Percutaneous Puncture,”IEEE Transactions on Instrumentation and Measurement, vol. 74, pp. 1-13, 2025. [12] Y. Hao, A. Tian, Z. Huang, S. Lan, Z. Yang, C. Hu, and C. Shi*, “A High-Precision 3-D FBG-Based Force Sensor Utilizing Nested Orthoplanar Springs for Laparoscopic Palpation,”IEEE Transactions on Instrumentation and Measurement, vol. 74, pp. 1-13, 2025. [13] Z. Li, D. Long, F. Chen, K. Wang, and C. Shi*, “A Posterior Segment Ocular Microsurgical Robot With a Decoupling RCM Mechanism Based on a Minimized Internal Constraint Force Optimization Method,”IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 2, pp. 528-541, 2025. [14] S. Chen, D. Long, K. Wang, Z. Yang, B. Zhang, and C. Shi*, “Design and Performance Investigation of the Microanastomosis Surgical Robot Based on the Novel Dual-Triangular RCM Mechanism,”IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 4, pp. 1416-1430, 2025. [15] W. Wang, F. Liu, J. Hao, X. Yu, B. Zhang, and C. Shi*, “Desmoking of the Endoscopic Surgery Images Based on a Local-Global U-Shaped Transformer Model,”IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 1, pp. 254-265, 2025. [16] Y. Shi, J. Li, Y. Yang, Z. Li, T. Fukuda, and C. Shi*, “Recent Advances in Robotic Systems for Robot-Assisted Transoral Surgical Procedures: A Systematic Review,”Advanced Robotics Research, vol. 1, no. 3, pp. e202500074, 2025/12/01, 2025. [17] P. Du, J. Hao, K. Qian, Y. Zhang, Z. Zhang, and C. Shi*, “Tendon friction compensation and slack avoidance for trajectory tracking control of the tendon-driven medical continuum manipulator,”Biomimetic Intelligence and Robotics, vol. 5, no. 4, pp. 100234, 2025/12/01/, 2025.