Robotic, Mechatronic System

2025/04-present: Ningbo Institute of Materials Technology and Engineering, CAS, Associate Professor;
2024/07-2025/04:：Hangzhou Innovation Institute of Beihang University, Associate Professor;
2022/07-2024/07：Beihang University, Hangzhou Innovation Institute of Beihang University, Post Doctor;
2021/01-2021/06：Aalborg University, Post Doctor;
2018/02-2020/10：Aalborg University, PhD Student;
2015/09-2022/06：Beihang University, PhD Student

Second Prize, Science and Technology Progress Award, China Instrument and Control Society (2025);
Third Prize, Science and Technology Progress Award, China Instrument and Control Society (2024);
Best Paper Finalist, IEEE 19th International Conference on Industrial Electronics and Applications (ICIEA) (2024);
Zhejiang Provincial Industry-University-Research Collaboration Innovation and Promotion Award, Zhejiang Industry-University-Research Institute Collaboration Association (2023);
Silver Best Application Paper Award, The International Award Committee for 5th IFToMM Symposium on Mechanism Design for Robotics (2021);
Best Paper Award, 8th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics Automation and Mechatronics (2017)

1.Zhongyi Li, Weihai Chen*, Jianbin Zhang, Qihang Li, Jianhua Wang, Zaojun Fang, and Guilin Yang. “A Novel Cable-driven Antagonistic Joint Designed with Variable Stiffness Mechanisms.” Mechanism and Machine Theory, 2022, 171: 104716.
2.Zhongyi Li, Yichen Liu, Chinyin Chen, Guilin Yang, and Shaoping Bai*. “Modeling and Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons.” Proc. IMechE, Part C: Journal of Mechanical Engineering Science, 2022;236(18):9941-9950.
3.Majun Song, Zhongyi Li, Jingjing Jiang, Weihai Chen, Sheng Guo, Hao Zheng, Lianzheng Niu, “Design, simulation and kinematic validation of a hip prosthetic mechanism with a multimotor function,” Journal of Bionic Engineering, 2024, vol. 21, no. 3, pp. 1321-1333.
4.Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, and Lianzheng Niu. "Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic." ASME. J. Mechanisms Robotics. March 2025; 17(3): 031016.
5.Shaoping Bai, Zhongyi Li, and Jorge Angeles“Exact path synthesis of RCCC linkages for a maximum of nine prescribed positions.”Journal of Mechanisms and Robotics. 2022, 14(2): 021011.
6.Shaoping Bai, Zhongyi Li, and Jorge Angeles. Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions”[ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336][J]. Journal of Mechanisms and Robotics, 2023, 15(2): 027001.
7.Zhongyi Li, Wang Li, Jianbin Zhang, Weihai Chen*, Jianhua Wang, Zaojun Fang and Guilin Yang. “Mechatronics design and testing of a cable-driven upper limb rehabilitation exoskeleton with variable stiffness.”Review of Scientific Instruments, 2021, 92 (2), 024101
8.Zhongyi Li, Shaoping Bai, Ole Madsen, Weihai Chen, and Jianbin Zhang. “Design, modeling and testing of a compact variable stiffness mechanism for exoskeletons.”Mechanism and Machine Theory, 2020, 151: 103905.
9.Zhongyi Li, Shaoping Bai*, Weihai Chen, and Jianbin Zhang. “Nonlinear stiffness analysis of spring-loaded inverted slider crank mechanisms with a unified model.”Journal of Mechanisms and Robotics, 2020, 12(3): 031011.
10.Shaoping Bai, Zhongyi Li, and Ruiqin Li. “Exact synthesis and input-output analysis of 1-dof planar linkages for visiting 10 poses.”Mechanism and Machine Theory, 2020, 143: 103625.
11.Zhongyi Li, and Shaoping Bai. “A novel revolute joint of variable stiffness with reconfigurability.”Mechanism and Machine Theory, 2019, 133: 720-736.
12.Zhongyi Li, Majun Song, Hao Zheng, Yue Zhang, Cheng Shen, Weihai Chen, Design of a lightweight passive shoulder exoskeleton with variable stiffness mechanisms, 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), Kristiansand, Norway, pp. 1-6, Aug. 2024.
13.Majun Song, Zhongyi Li, Hao Zheng, Yue Zhang, Shang Yang, Weihai Chen, Xiantao Sun, Design and Simulation of a Passive Transfemoral Prosthesis with Bi-functional Muscles Characteristics, 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), 5-8 Aug. 2024, Kristiansand, Norway.
14.Yue Zhang, Weihai Chen, Zhongcai Pei, Zhongyi Li, Majun Song, EEG Feature Engineering for Motor Imagery Classification Using Efficient Machine Learning Approach, 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), 5-8 Aug. 2024, Kristiansand, Norway.（Best Paper Finalist）
15.Zhongyi Li, Jingmeng Liu, Majun Song, et al. Mechatronics Design of a Novel Variable Stiffness Joint Designed with Antagonistic Actuation, 2023 IEEE 18th Conference on Industrial Electronics and Applications (ICIEA), 18-21 Aug. 2023, Ningbo, China, pp. 1483-1488.
16.Yichen Liu, Zhongyi Li, and Shaoping Bai*. “Design of a reconfigurable novel constant-force mechanism for assistive exoskeletons.”In 5th IFToMM Symposium on Mechanism Design for Robotics (MEDER), Futuroscope-Poitiers, France, pp. 1-10, June 23-25, 2021. (Silver Best Application Paper Award)
17.Zhongyi Li, and Shaoping Bai*. “Design and modelling of a compact variable stiffness mechanism for wearable elbow exoskeletons.”In 2019 International Conference on Control, Mechatronics and Automation (ICCMA), Delft, Netherlands, pp. 342-346, November, 2019.
18.Zhongyi Li, Shaoping Bai*, Weihai Chen, and Jianbin Zhang. “Unified stiffness modeling and analysis of compliant crank-slider mechanisms.”In IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, pp. 1315-1324, June, 2019.
19.Zhongyi Li, Weihai Chen, and Shaoping Bai*. “A novel reconfigurable revolute joint with adjustable stiffness.”In 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, pp. 8388-8393, May, 2019.
20.Zhongyi Li, Weihai Chen*, Jianbin Zhang, and Shaoping Bai. “Design and control of a 4-DOF cable-driven arm rehabilitation robot (CARR-4).”in 8th Inter. Conf. on Robotics, Automation and Mechatronics, Ningbo, China, pp. 581-586, Nov. 19-21, 2017. (Best Paper Award)
21.Zhongyi Li, Weihai Chen*, Jianbin Zhang, and Shaoping Bai. “Stiffness analysis of a cable-driven wrist robotic rehabilitor.”In 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand, pp. 1-6, Nov. 13-15, 2016.