Wissenschaftlicher Mitarbeiter


Foto von Tingli Hu

M.Sc. M.Sc. Tingli Hu

Technische Universität München

Lehrstuhl für Robotik und Systemintelligenz (Prof. Haddadin)

Postadresse

Postal:
Georg-Brauchle-Ring 60_62
80992 München

Dienstort

Lehrstuhl für Robotik und Systemintelligenz (Prof. Haddadin)

Work:
Georg-Brauchle-Ring 60_62(2941)/I
80992 München

  • Tel.: +49 (89) 289 - 29407
  • Sprechstunde: Vereinbarung per Email

I am scientist with an interdisciplinary background spanning electrical engineering, biomedical engineering, information technology, and theoretical mechanics. I have been advancing my research career in human neuromechanics and motor control with Prof. Sami Haddadin since 2014, and have been leading a small team in the same research area since 2023. I am also (co-)leading the human motor control lab since 2016.

My research focus is human neuromechanics and motor control (Hu & Co), including

  • human shouler-arm-hand musculoskeletal biomechanics,
  • human neuromuscular control,
  • human spinal neural-circuit model.

I am also interested in

  • multisensor data fusion of biomedical signals,
  • parameter identification and model calibration,
  • physics-based computer graphics, and
  • intelligent prosthesis (control & autonomy).

Research in human neuromechanics and motor control (Hu & Co)

Human musculoskeletal biomechanics model

Hightlights:

  • lumped-parameter dynamical model,
  • 12 joint degrees of freedom, 
  • 42 (Hill-type) musculotendon actuators,
  • anatomically and biomechanically consistent scapulothoracic sliding plane,
  • validated with experimental data.

More details in
[1] T. Hu, J. Kühn and S. Haddadin, "Forward and inverse dynamics modeling of human shoulder-arm musculoskeletal system with scapulothoracic constraint," Comput. Methods Biomech. Biomed. Engin., 2020.

Hightlights:

  • kinematics model,
  • 26 joint degrees of freedom (with palm arc), 
  • 47 musculotendon routing paths (intrinsic and extrinsic),
  • kinematic and anatomical high accuracy

More details in

  • [2] J. Ma'touq, T. Hu and S. Haddadin, "Sub-millimetre accurate human hand kinematics: from surface to skeleton," Comput. Methods Biomech. Biomed. Engin., 2018.
  • [3] J. Ma'touq, T. Hu and S. Haddadin, "A Validated Combined Musculotendon Path and Muscle-Joint Kinematics Model for the Human Hand," Comput. Methods Biomech. Biomed. Engin., 2019.

  • work in progress
  • distributed-parameter model

Human neuromuscular control

Highlights:

  • reflex as a closed-loop control system
  • focus on elbow flexors
  • data collection and analysis with human subject and electrical stimulation
  • musculoskeletal model from [1]

Main contributors: Tingli Hu, Johannes Kühn.

More details in

  • [6] T. Hu. Analysis and modeling of human arm withdrawal reflexes using surface electromyography. Master’s thesis, Leibniz Universität Hannover, 2015.
  • [7] T. Hu. A physiological arm model based On the analysis of human withdrawal reflex movements. Master’s thesis, Leibniz Universität Hannover, 2016.

Highlights:

  • data collection and analysis of human motion
  • one-dimensional synergy-space controller for three-dimensional motion
  • musculoskeletal model from [1]

Main contributors: Tingli Hu, Johannes Kühn.

More details are coming soon...

Neural-circuit model

Other contributions

To health technology

Hightlights:

  • real-time estimation of muscle activation
  • high update frequency: up to 2000 Hz on an office computer
  • computer graphically rendered in virtual reality
  • musculoskeletal model from [1][2][3]

More details are coming soon...

  • work in progress
  • some highlights can be found here

Main contributors: Johannes Kühn, Tingli Hu.

More details are coming soon...

Relevant highlight: Human shoulder-arm musculoskeletal model from [1].

More details in

[7] J. Kühn, T. Hu, M. Schappler, and S. Haddadin, “Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task,” IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018. https://doi.org/10.1109/SIMPAR.2018.8376286

Musculoskeletal model from [1][2][3].

Relevant publication:

M Tröbinger, A Costinescu, H Xing, J Elsner, T Hu, A Naceri, L Figueredo, E Jensen, D Burschka, S Haddadin, "A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 2933-2940, doi: 10.1109/IROS51168.2021.9636626.

To scientific community

Hightlights:

  • 30 activities of daily living
  • 6 healthy right-handed subjects
  • simultaneous and synchronized recording of
    • trajectories of anatomical landmarks
    • surface electromyograms
    • scalp electroencephalograms
  • in an electromagnetically isolated chamber

More details in

  • [8] Hu T, Kuehn J, Haddadin S. 2018. Identification of human shoulder-arm kinematic and muscular synergies during daily-life manipulation tasks. In: IEEE Int. Conf. Bio. Rob.; Aug; Enschede, the Netherlands. p. 1011–1018.
  • [9] G Averta, F Barontini, V Catrambone, S Haddadin, G Handjaras, J P O Held, T Hu, E Jakubowitz, C M Kanzler, J Kühn, O Lambercy, A Leo, A Obermeier, E Ricciardi, A Schwarz, G Valenza, A Bicchi, M Bianchi. U-Limb: A multi-modal, multi-center database on arm motion control in healthy and post-stroke conditions. GigaScience, Volume 10, Issue 6, June 2021.

Downloadable with file tag "TUM dataset" from

[10] G Averta, F Barontini, V Catrambone, S Haddadin, G Handjaras, J P O Held, T Hu, E Jakubowitz, C M Kanzler, J Kühn, O Lambercy, A Leo, A Obermeier, E Ricciardi, A Schwarz, G Valenza, A Bicchi, M Bianchi, 2020, "U-Limb", https://doi.org/10.7910/DVN/FU3QZ9, Harvard Dataverse, V4.