YAN Xiaoyue


Research Associate​​
LinkedIn: www.linkedin.com/in/%E5%AE%B5%E6%9C%88-yan-a23a851b6/

Ph.D. Candidate in Mechanical Engineering (Supervisor: Prof. Ang Wei Tech), School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore (Jan.2021~ Present)
Visiting Student Researcher (Supervisor: Prof. Homayoon Kazerooni), Berkeley Robotics and Human Engineering Laboratory, University California at Berkeley (Oct. 2016~Feb.2019)
Ph.D. Candidate in Mechanical Engineering (Supervisor: Prof. Shuguo Wang) State Key Laboratory of Robotics and System, Harbin Institute of Technology, P.R. China (Mar. 2015~Oct.2016)
M.S. in Agricultural Electrification and Automation (Advisor: Prof. Jianping Hu), Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu Univ., China (Sep.2011~Jul.2014)
B.S. in Mechanical design, manufacturing & automation, Ludong Univ., P.R. China (Sep.2006-Jul. 2010)



I used to be a Ph.D. candidate from the State Key Laboratory of Robotics of Harbin Institute of Technology (HIT). During my two years at HIT (03/2015~09/2016), I participated in the National High-tech R&D Program of Research on Dynamic and Stable Walking Technology of a Hydraulic Biped Robot.

During my Ph.D. study, I visited the Berkeley Robotics & Human Engineering Lab of UC, Berkeley as a visiting research student for 28 months (10/2016~02/2019). Under the guidance of Prof. Homayoon Kazerooni and fellows at SuitX, I carried out research on the design and control of lower-limb exoskeletons for individuals with paralysis, to help people with mobility disorders to be upright and mobile.

In Feb. 2019, I returned to China to visit my family and prepare for my new study journey at Berkeley. I could not go back due to visa issues, then I came to Singapore to start a business together with two other co-founders. The founded company, Weston Robot Pte Ltd, aims to change the world by accelerating the pace of robot adoption in various sectors. As one of the Co-Founders, I was responsible for the R&D of autonomous mobile robots in multiple application scenarios. After two years, Weston Robot gradually established its own autonomous navigation product line based on the mobile robot platforms from an empty office at the beginning.

However, my goal has always been to carry out research on medical robots to assist individuals with mobility disorders. Hence, I left Weston robot and restarted my Ph.D. program under the guidance of Prof. Ang Wei Tech at NTU in Jan. 2021. Now, I become a member of the Rehabilitation Research Institute of Singapore (RRIS) as a Research Associate. I will continue my research on wearable assistive lower-limb exoskeletons.

​​​​​Research Interest
My research and work lie in the design and control of dynamic mechatronic systems, such as humanoid robots, medical exoskeletons, and assisted driving mobile robots. I want to focus my future research on the hybrid control systems, especially on wearable robots, bioinspired robots, and legged locomotion.



Assisted Driving Toolbox for indoor& outdoor robots (Aug. 2019- Aug. 2021)

  • The mobile robots are equipped with Lidar, ultrasonic and TOF sensors, multi cameras, and bumpers to sense the environment and avoid obstacles
  • The toolbox accomplishes a range of functions, including multi-driving-mode-switch (remote/ automated/ manual), multi-camera video streaming, safety assurance, and easy selection of joysticks and networks.

COVID-Fight-Robots based on mobile robot platform (Aug. 2019- Aug. 2021)

  • Autonomous mobile UV disinfection robots and mask& social distance monitoring robots.

High-level controller Design for lower extremity exoskeleton (Oct.2016-Feb.2019)

  • A high-level control strategy with Gait Phase Triggering Estimator (GPTE) and Torque Target Generator (TTG) was proposed.
  • GPTE switches the gait phase for both legs based on triggering conditions; TTG calculates the certain torques applied to the user’s knee and hip joints based on what reinforcements are needed for each phase.
  • A different combination of torque modes for each phase, referred to as Gravity Compensation, Feedforward Movement Assistance and Knee Joint Stability Reinforcement.
  • Torques can be adjustable to each individual user.

Self-induced Telescopic Back Support Crutches Design for Exoskeleton Wearers (Oct.2016-Feb.2019)

  • A self-induced exoskeleton support mechanism was designed to reduce the chance of disabled users’ falling.
  • Combined with lock-unlock clutches of extension and retraction, the telescopic crutches could autonomously extend under spring force to provide back support when the wearer falls behind, while retract by cable pulling system when the user moves forward.




  • Hu J P, Yan X Y, Ma J, et al. Dimensional Synthesis and Kinematics Simulation of a High-Speed Plug Seedling Transplanting Robot[J]. Computers and Electronics in Agriculture, 2014, 107: 64-72. (SCI, WOS: 000341348400008, Impact Factor:2.201, Citation Index: 53)
  • Yan X Y, Hu J P, Wu F H, et al. Design and Experiment of Full-row-pick-up and Single-dropping Seedling Transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44: 7-13. (in Chinese, EI: 20134616980251)
  • Yan X Y, Hu J P, Ma J and Wang X. Design of a Control System for Magnetic Plate-type Precision Seeding Production Line Based on PLC and MCU[J]. Open Electrical and Electronic Engineering Journal, 2013, 7: 82-89. (EI: 20144200102696)
  • Hu J P, Yan X Y, He J Y and Guan J. Research and Design of the Control System for a Plug Seedling Transplanting Robot[J]. Journal of Agricultural Mechanization Research, 2014(12):122-127. (in Chinese, CSTPCD)
  • Hu J P, Zhang J B, He J Y and Yan X Y. Motion Analysis and Experiment for Planting Mechanism with Planetary Gears of Transplanting Machine[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(10):57-61. (in Chinese, EI: 20134616979951)
  • Fu P Y, Hu J P, Liu F and Yan X Y. Simulation Analysis and Experiment for Gear-linkage-cam Combination Planting Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45:52-56. (in Chinese, EI: 20145200366224)

Licensed Patent

  • Hu J P, Yan X Y, He J Y, et al., 2013. A kind of seedling of getting of transplanting for Plug seedling plants seedlings method, CN patent 103340051, Oct. 9.
  • Hu J P, Yan X Y, Ma J, et al., 2013. Cavity disc conveying and positioning method of pot seedling transplanter, CN patent 103444329, Dec. 18.
  • Hu J P, Yan X Y, Ma J, et al., 2013. Hole tray conveying locating device for pot seedling transplanter, CN patent 103466261, Dec. 25.
  • Hu J P, He J Y, Yan X Y, et al., 2014. Lengthwise seedling sending device for automatic transplanting machine of plug seedlings, CN patent 103636330, Mar. 19.
  • Hu J P, Hou S, Yan X Y, et al., 2015. Plug seedling image acquiring device and method, CN patent 104322187, Feb. 4.
  • Dong L L, Hu J P, Ni J H, He J Y, Yan X Y, 2016. The conveying and positioning device of a kind of hole tray pot seedling automatic transplanting and method, CN patent 103787051, Jul. 6.


  • Yan X Y, Hu J P, Lu C T, et al., 2013. Design and Research on the Control System of Magnetic Plate-type Seeding Production Line. In: Liu, X.H. Zhang, K.F. and Li, M.Z. (Eds.), Advanced Materials Research 694-697. Proceedings of 4th International Conference on Manufacturing Science and Engineering, Dalian, China, pp. 2051-2056. (EI: 20132416421192)