Shuang Peng project page 

I'm a student major in robotics at Southeast University. my research interest lies on legged locomotion and haptic interfaces. This is an archive page of my robot projects. Most projects come with video demo. If you have any question or suggestion, please feel free to contact me at--

Contact  shuangpeng00@gmail.com

YouTube Channel Youtube channel Bilibili channel


Haptic hand (2020/02~)

Project status Ongoing

A wearable haptic exoskeleton helps user to ineract with virtual environment in a natural way. The first generation hardware comes with thumb and index moudle. Each finger moudle have 3 indepent actuar for a all direction force feedback at user's fingertip. Also, a 3dof rss moudle can provide limited haptic feedback for user's fingertip.

A 4DOF linkage connects the user’s fingertip and back of the hand, which covers the finger’s workspace. To achieve 3-dimensional force feedback, 3 joints of the linkage are actuated by brushless motors, with high power density that delivers useable torque to the user’s finger. A compact brushless driver based on stm32f446re is developed, which drives gimbal motors as torque controllable actuators. Cable-drive reducers are used to reduce transmission friction and backlash. The first glove prototype contains thumb and index linkage, to finish a grasp demo developed based on the chai3d framework.

The project uses brushless motors with tendon based reducer to construct a high power-desenty actuar with good back-drive ability. The motor driver with current feedback is still in design process. After that, the joint output turque can be controlled via current feedback.

Demo Youtube

Demo Bilibili


Quadruped Tiny (2019/10-2020/01)

Project status Fininshed

A 12DOF servo actuated tiny quadruped for gait tests. With an IMU for pose feedback. Weights only 220g. Powered by external power source.

Balance demo Youtube  Walk demo Youtube

Balance demo Bilibili  Walk demo Bilibili


Haptic device gen3 (2019/09-2019/10)

Project status Fininshed

A 3DOF haptic device driven by brushed motors. User can feel and interact objects in virtual environment through this device. The actuator mechanic was redesigned to reduce the resistance when move the device end.

Demo Youtube

Demo Bilibili


Quadruped B (2019/05~)

Project status Ongoing

A 12DOF quadruped uses brushed motor as actuators. Redesigned leg mechanic to reduce moment of inertia. New body frame to reduce the overall weight.

Demo Youtube

Demo Bilibili


Haptic device gen2 (2019/03-2019/05)

Project status Fininshed

A 3DOF haptic device driven by brushless motors. User can feel and interact objects in virtual environment through this device. Uses magnetic encoder for better resolution. The enhanced motor allows a larger workspace comparing to the previous version.

Demo Youtube

Demo Bilibili


Quadruped A (2018/11~)

Project status Ongoing

A 12DOF quadruped uses BLDC motors as actuators. The brushless motor driver with current feedback is still under development. This is an ongoing project.

Demo Youtube

Demo Bilibili


Haptic device gen1 (2018/07-2018/08)

Project status Fininshed

A 3DOF haptic device driven by brushed motors. Uses potentiometer at each for position feedback. However, limited by motor’s maximum output torque. The workspace is very limited.

Demo Youtube

Demo Bilibili


Bio fish (2018/07-2018/08)

Project status Fininshed

A bionic fish robot. Designed with a 4DOF tail and 2 fins.

Demo Youtube

Demo Bilibili

Detailed info on hackaday


Exoskeleton (2017)

Project status Fininshed

A 3DOF arm exoskeleton driven by air muscles.

Demo Youtube

Detailed info on hackaday