2018/12-至今，清华大学机械工程系，副研究员

2018/08-2024/11，清华大学机械工程系，助理研究员

2017/07-2018/07，哈佛大学工程与应用科学学院，博士后

2016/07-2018/07，清华大学精密仪器系，博士后

课程教学：

1. 科学基础课，工程图学（48学时）

2. 通识选修课，智能搭建积木的原理与体验（32学时）

本科生培养：

积极探索本科生学术研究培养模式，激发本科生学术兴趣和潜力，攻克国际学术前沿问题。负责组建并指导本科生科创团队 – 清触未来，致力于研发国际上最高性能的多模态触觉传感器，并探索触觉感知技术在科学研究、工业和日常场景下的应用。

近三年来，以本科生一作投出SCI论文十余篇（全部为Q1区），包括多篇机器人领域、仪器仪表领域顶刊。获得了首届“清华工匠大赛”特等奖（唯一）、清华大学2022年度“互联网+”十佳学生创新创业团队（唯一本科生团队）、第八届中国国际“互联网+”大学生创新创业大赛北京赛区一等奖、“挑战杯”首都大学生课外学术科技作品竞赛特等奖、清华“学推计划”A级项目评定、大学生创新创业训练计划国家级评定、SRT优秀项目特等奖、“星火计划”支持等。

欢迎对科研感兴趣的本科生积极参与，共同推进机器人学术前沿探索和产业应用落地；同时也欢迎更多的导师加入，共同探索具有双T（Creative Thoughts and Leading Technology，创新思想与引领技术，简称双T）能力的拔尖人才培养模式，构建起本科生学术氛围和学术传承。

面向机器人领域的世界科技前沿和国家重大需求，以智能、感知、驱动为核心，从学术研究、产品研发、产业应用三个维度，致力于突破机器人交互感知与自主操作能力极限，引领下一代智能机器人操作技术的发展，并不断拓展机器人在工业制造、航天航空、民生服务等场景下的落地应用。

课题组每年招收硕士生、博士生，常年招聘博士后，欢迎对机器人感知与操作感兴趣的学生加入我们。

主要研究方向：

• 机器人指尖多模态触觉感知

• 精准驱动技术与灵巧机械手

• 机器人自主、智能操作技能

主要科研成绩：

【前沿学术】：围绕机器人触觉感知、精准驱动、操作技能，在IEEE TIE、IEEE TMECH、IEEE TASE、IEEE ICRA、RCIM、AEI等机器人领域顶刊和顶会上发表SCI论文46篇，获中国授权发明专利45项。受邀担任机器人领域旗舰会议IEEE ICRA 2024机器人抓取与操作专题的副主编，自动化科学与工程国际会议IEEE CASE 2023分会主席，第一届智能科学大会特邀报告，第七届人因高峰论坛青年学者特邀报告等。

【核心产品】：推出高性能指尖多模态触觉传感器产品Tac3D，具备接触形貌、形变场、六维集中力、分布力、滑移场，及物体摩擦系数、软硬程度、质量分布等多模态触觉信息感知能力，填补了市场空白。推出集成先进触觉感知技术的灵巧机械手产品DexHand，融合多模态感知、自主决策、精准执行等核心功能，作为人形机器人不可或缺的核心元件，推动并引领机器人自主化操作领域的快速发展。

【重大应用】：将机器人自主化操作核心理论技术和研究成果，成功应用于解决航天领域柔性装配和飞行模拟重大需求。主持卫星柔性化装配产线，天问一号火星探测器、载人登月着陆舱、新一代载人飞船的飞行模拟等多项国家重大工程项目。相关研究成果获2024年度机械工业科学技术发明一等奖，成功助力我国第一条大型卫星柔性化装配线的落地应用、首次火星探测任务的顺利实施，以及为载人登月重大工程的顺利推进提供重要保障。

已发表学术论文

【2025】

[1] Mingxuan Li, Lunwei Zhang, Tiemin Li, Yao Jiang*. Learning gentle grasping from human-free force control demonstration. IEEE Robotics and Automation Letters. 2025, 10(3): 2391-2398.

[2] Zhiyuan Chen, Tiemin Li, Licang Qin, Yao Jiang*. Vision-Guided Autonomous Block Loading in a Dual-Robot Collaborative Handling Framework. Journal of Construction Engineering and Management, 2025, 151(5): 04025035.

[3] Yue Wang, Tiemin Li, Yao Jiang*. Center-of-Mass Location Estimation for Improving the Adaptability of Grasping Failure Recovery Policy. IEEE Transactions on Industrial Electronics, 2025. DOI: 10.1109/TIE.2025.3544201.

[4] Qiyin Huang, Tiemin Li, Yao Jiang*. Enhancing Adaptivity of Two-Fingered Object Reorientation Using Tactile-based Online Optimization of Deconstructed Actions. IEEE International Conference on Robotics and Automation, USA, 19 May – 23 May, 2025.

【2024】

[5] Lunwei Zhang, Siyuan Feng, Tiemin Li, Yao Jiang*. Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors. Measurement, 2024, 226:114118.

[6] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Incipient slip-based rotation measurement via visuotactile sensing during in-hand object pivoting. IEEE International Conference on Robotics and Automation, Japan, 13 May – 17 May, 2024.

[7] Zhiyuan Chen, Yixiao Feng, Tiemin Li, Yao Jiang*. Object-based terminal positioning solution within task-boosted global constraint for improving mobile robotic stacking accuracy. Adevanced Engineering Informatics, 2024, 60: 102521.

[8] Zhiyuan Chen, Tiemin Li, Yao Jiang*. Image-based visual servoing with collision-free path planning for monocular vision-guided assembly. IEEE Transactions on Instrumentation and Measurement, 2024, 73: 7508717.

[9] Mingxuan Li, Lunwei Zhang, Yen Hang Zhou, Tiemin Li, Yao Jiang*. EasyCalib: Simple and Low-Cost In-Situ Calibration for Force Reconstruction with Vision-Based Tactile Sensors. IEEE Robotics and Automation Letter, 2024, 9(9): 7803-7810.

[10] Jizhou Yan, Lunwei Zhang, Tiemin Li, Yao Jiang*. A distributed force reconstruction mapping model with physical compactness and low computational cost for vision-based tactile sensors. Measurement, 2024, 238:115241.

[11] Mingxuan Li, Yen Hang Zhou, Lunwei Zhang, Tiemin Li, Yao Jiang*. OneTip: A soft tactile interface for 6-D fingertip pose acquisition in human-computer interaction. Sensors and Actuators: A. Physical, 2024, 379: 115896.

【2023】

[12] Lunwei Zhang, Tiemin Li, Yao Jiang*. Improving the force reconstruction performance of vision-based tactile sensors by optimizing the elastic body. IEEE Robotics and Automation Letters, 2023, 8(2): 1109-1116.

[13] Mingxuan Li, Tiemin Li, Yao Jiang*. Marker displacement method used in vision-based tactile sensors – From 2D to 3D: A review. IEEE Sensors Journal, 2023, 23(8): 8042-8059.

[14] Ruomin Sui, Lunwei Zhang, Qiyin Huang, Yao Jiang*. A novel incipient slip degree evaluation method and its application in adaptive control of grasping force. IEEE Transactions on Automation Science and Engineering, 2023,

[15] Yue Wang, Lunwei Zhang, Tiemin Li, Yao Jiang*. A model-based analysis-design approach for virtual binocular vision system with application to vision-based tactile sensors. IEEE Transactions on Instrumentation and Measurement, 2023, 72: 5010916.

[16] Ning Zhang, Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. A robust incipient slip detection method with vision-based tactile sensor based on local deformation degree. IEEE Sensors Journal, 2023, 23(15): 17200-17213.

[17] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Improving the representation and extraction of contact information in vision-based tactile sensors using continuous marker pattern. IEEE Robotics and Automation Letters, 2023, 8(9): 6021-6028.

[18] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Real-time and robust feature detection of continuous marker pattern for dense 3-D deformation measurement. Measurement, 2023, 221: 113479.

[19] Yixiao Feng, Xiangyu Tian, Tiemin Li, Yao Jiang*. Measurement of mobile manipulator chassis pose change caused by suspension deformation and end-effector accuracy improvement based on multi-sensor fusion. Robotics and Autonomous Systems, 2023, 170: 104533.

【2022】

[20] Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. Incipient slip detection method for soft objects with vision-based tactile sensor. Measurement, 2022, 203: 111096.

[21] Mingxuan Li, Lunwei Zhang, Tiemin Li, Yao Jiang*. Continuous marker patterns for representing contact information in vision-based tactile sensor: Principle, algorithm, and verification. IEEE Transactions on Instrumentation and Measurement, 2022, 71: 5018212.

[22] Shuqing Chen, Tiemin Li, Yao Jiang*. Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system. International Journal of Advanced Manufacturing Technology, 2022, 120(3-4): 2429-2442.

【2021】

[23] Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. Incipient slip detection method with vision-based tactile sensor based on distributed force and deformation. IEEE Sensors Journal, 2021, 22(15): 25973-25985.

[24] Fengchun Li*, Yao Jiang, Tiemin Li, A laser-guided solution to manipulate mobile robot arm terminals within a large workspace. IEEE/ASME Transactions on Mechatronics, 2021, 26(5): 2676-2687.

【2019】

[25] Fengchun Li, Tiemin Li*, Yao Jiang, Haitong Wang, Kornel F. Ehmann. Explicit error modeling of dynamic thermal errors of heavy machine tool frames caused by ambient temperature fluctuations. Journal of Manufacturing Processes, 2019, 48: 320-338.

【2018】

[26] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic accuracy improvement of a novel smart structure-based parallel kinematic machine, IEEE/ASME Transactions on Mechatronics, 2018, 23(1): 469-481.

[27] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic error modeling and identification of the over-constrained kinematic machine, Robotics and Computer-Integrated Manufacturing, 2018, 49: 105-119.

[28] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen. Improving tracking accuracy of a novel 3-DOF redundant planar parallel kinematic machine, Mechanism and Machine Theory, 2018, 119: 198-218.

[29] Fuhua Li, Yao Jiang, Tiemin Li*, Kornel F. Ehmann. Compensation of dynamic mechanical tracking errors in ball screw drives, Mechatronics, 2018, 55: 27-37.

[30] Tiemin Li, Fuhua Li*, Yao Jiang, etc. Modeling of axial contact stiffness of a double-nut with preloads, Proceedings of the Institute of Mechanical Engineering Part C – Journal of Mechanical Engineering Science, 2018, 232(4): 629-638.

【2017】

[31] Yao Jiang*, Tiemin Li, Liping Wang. Novel method for designing high precision parallel kinematic machines based on the smart structure, IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1889-1902.

[32] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen. Systematic design method and experimental validation of a 2-DOF compliant parallel mechanism with excellent input and output decoupling performances, Applied Sciences, 2017, 7(6): 591.

[33] Yao Jiang*, Tiemin Li, Liping Wang. Design, development and application of a compact flexure-based decoupler with high motion transmission efficiency and excellent input decoupling performance, IEEE/ASME Transactions on Mechatronics, 2017,22(2): 1071-1081.

[34] Liping Wang, Yao Jiang, Tiemin Li*. Analytical compliance modeling of serial flexure-based compliant mechanism under arbitrary applied load, Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962.

[35] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong, Du. Learning-based optimal desired compensation adaptive robust control for a flexure-based micro-motion manipulator, Applied Science-Basel, 2017, 7(4): 406.

[36] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong Du. Contour accuracy improvement of a flexure-based micro-motion stage for tracking repetitive trajectory, AIP Advances, 2017, 7(1): 015026.

[37] Fuhua Li, Yao Jiang, Tiemin Li*, Yunsong Du. An improved dynamic model of preloaded ball screw drives considering torque transmission and its application to frequency analysis, Advances in Mechanical Engineering, 2017, 9(7): 1687814017710580.

[38] Tiemin Li, Fengchun Li, Yao Jiang*, Haitong Wang, Jinglei Zhang. Error modeling and sensitivity analysis of a 3-P(Pa)S parallel type spindle head with parallelogram structure, International Journal of Advanced Robotic Systems, 2017, 14(3): 1-18.

[39] Tiemin Li, Fengchun Li*, Yao Jiang, Haitong Wang. Thermal error modeling and compensation of a heavy gantry-type machine tool and its verification in machining, International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 3073-3092.

[40] Tiemin Li, Fengchun Li*, Yao Jiang, Jinglei Zhang, Haitong Wang. Kinematic calibration of a 3-P(Pa)S parallel-type spindle head considering the thermal error, Mechatronics, 2017, 43: 86-98.

[41] Fengchun Li*, Tiemin Li, Haitong Wang, Yao Jiang. A temperature sensor clustering method for thermal error modeling of heavy milling machine tools, Applied Sciences – Basel, 2017, 7(1): 82.

【2016】

[42] Yunsong Du, Tiemin Li*, Yao Jiang, Haitong Wang. Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage, Advances in Mechanical Engineering, 2016, 8(3): 1687814016638301.

[43] Tiemin Li, Yunsong Du*, Yao Jiang, Jinglei Zhang. Empirical compliance equations for constant rectangular cross section flexure Hinges and their applications, Mathematical Problems in Engineering, 2016: 5602142.

[44] Yunsong Du*, Tiemin Li, Wei Ji, Yao Jiang, Fuhua Li. Compliance modeling of planar flexure-based mechanisms and its application to micro-motion stages, International Journal of Advanced Robotic Systems, 2016, 13: 1729881416658173.

【2015】

[45] Yao Jiang*, Tiemin Li, Liping Wang. Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage, Review of Scientific Instruments, 2015, 86(9): 095109.

[46] Yao Jiang, Tiemin Li*, Liping Wang. Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy, Robotics and Computer-Integrated Manufacturing, 2015, 32: 1-10.

[47] Yao Jiang, Tiemin Li*, Liping Wang. The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy, Robotica, 2015, 33(2): 241-263.

[48] Tiemin Li, Jinglei Zhang, Yao Jiang*. Derivation of Empirical compliance equations for circular flexure hinge considering the effect of stress concentration, International Journal of Precision Engineering and Manufacturing, 2015, 16(8): 1735-1743.

【2014】

[49] Liping Wang, Yao Jiang*, Tiemin Li. Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformation of the links, Chinese Journal of Mechanical Engineering, 2014, 27(5): 890-899.

授权发明专利

[1] 姜峣，陈志远，李铁民，冯思源. 用于FPC装配的目标引导式机器人系统及其控制方法、装置，中国发明专利，专利号：ZL202311549760.3

[2] 姜峣，李明暄，张伦玮，李铁民. 触觉传感器、机器人、实现触觉信息获取的方法及装置，中国发明专利，专利号：ZL202210061023.8.

[3] 姜峣, 张伦玮, 眭若旻, 李铁民. 触觉传感器及机器人，中国发明专利，专利号：ZL202010503562.3.

[4] 姜峣, 陈志远, 李铁民. 机器人及其控制方法和控制装置、标定方法和标定控制装置，中国发明专利，专利号：ZL2021109965322.

[5] 姜峣, 田向宇, 陈志远, 李铁民. 机器人系统及其测控方法和面激光接收器，中国发明专利，专利号：ZL202111388884.9.

[6] 姜峣，陈书清，李铁民. 一种测量模组的精度标定试验装置，中国发明专利，授权号：ZL202110313452.5.

[7] 姜峣，陈书清，易旺民，孟少华，李铁民. 一种测量系统以及测量方法，中国发明专利，授权号：ZL202011156042.6.

[8] 姜峣，冯一骁，田向宇，李铁民. 一种移动机器人及其舵轮装置，中国发明专利，授权号：ZL202110419391.0.

[9] 姜峣，眭若旻，张荣侨，李逢春，李铁民. 用于抓取点选取的测试装置及测试平台，中国发明专利，授权号：ZL202010303924.4.

[10] 姜峣，眭若旻，周航宇，李逢春，李铁民. 抓取信息的测试装置及测试平台，中国发明专利，授权号：ZL202010303968.7.

[11] 姜峣, 冯一骁, 眭若旻, 李铁民. 双目视觉系统、移动抓取机器人和自动取货方法，中国发明专利，授权号：ZL201910276912.4.

[12] 姜峣, 陈志远, 李逢春, 李铁民. 物品存取及测量装置，中国发明专利，授权号：ZL202010454402.4.

[13] 姜峣, 陈志远, 李逢春, 李铁民. 一种机器人系统以及测控方法，中国发明专利，授权号：ZL202011333511.7.

[14] 姜峣, 冯一骁, 李逢春, 李铁民. 移动抓取机器人和自动取货方法，中国发明专利，授权号：ZL201910276430.9.

[15] 姜峣, 田向宇, 冯一骁, 李铁民. 变刚度驱动器，中国发明专利，授权号：ZL201910231413.3.

[16] 姜峣, 冯一骁, 林祺安, 李铁民. 机器人的瓷砖铺设位置识别方法和系统，中国发明专利，授权号：ZL201910501310.4.

[17] 姜峣, 冯一骁, 李逢春, 李铁民. 机器人抓取货品的姿态测量方法和系统，中国发明专利，授权号：ZL201910505092.1.

[18] 姜峣, 田向宇, 冯一骁, 李铁民. 无导轨式变刚度驱动器，中国发明专利，授权号：ZL201910231498.5.

[19] 姜峣, 陈书清, 李逢春, 冯一骁, 李铁民. 一种物流设备及其倾倒动作执行方法，中国发明专利，授权号：ZL201910242100.8.

[20] 姜峣, 李铁民, 王立平. 一种并联式宏微高精运动平台，中国发明专利，授权号：ZL201510726632.0.

2024 机械工业科学技术发明一等奖

2024 大学生研究训练计划优秀指导教师一等奖

2024 中国科技发展基金会“青年科学家产学研创新联合体”智库专家

2023 首都“挑战杯”特等奖指导教师

2023 第十六届全国大学生创新创业年会优秀指导教师（清华唯一）

2023 清华大学机械工程系学生科创指导贡献奖

2022 大学生研究训练计划优秀指导教师特等奖

2022 第八届中国国际“互联网+”大学生创新创业大赛优秀创新创业导师

2020 清华大学第十六届实验技术成果将二等奖

2019 大学生研究训练计划优秀指导教师一等奖

2016 清华大学优秀博士论文

2016 北京市优秀博士毕业生

2015 博士研究生国家奖学金

2014 博士研究生国家奖学金

2013 博士研究生国家奖学金

2010 国家奖学金

2009 第七届全国周培源大学生力学竞赛特等奖（冠军）

2009 国家奖学金

2008 国家奖学金