Publications

I have authored or co-authored over 100 publications, including are 1 book, 2 book chapters and more than 55 published journal papers.

Selected Journal Papers

Junyuan Xue, Wenyu Liang*, Yan Wu, and Tong Heng Lee, "Model Predictive Variable Impedance Control Towards Safe Robotic Interaction In Unknown Disturbance-Rich Environments," 𝘙𝘰𝘣𝘰𝘵𝘪𝘤𝘴 𝘢𝘯𝘥 𝘈𝘶𝘵𝘰𝘯𝘰𝘮𝘰𝘶𝘴 𝘚𝘺𝘴𝘵𝘦𝘮𝘴, vol. 189, p. 104961, July 2025.
Yangfan Li, Jun Liu, Wenyu Liang, Zhuangjian Liu, “Towards optimal design of dielectric elastomer actuators using a graph neural network encoder”, IEEE Robotics and Automation Letters, vol. 8, no. 10, pp. 6339-6346, Oct. 2023.
Hanwen Zhang, Zeyu Lu, Wenyu Liang*, Haoyong Yu, Yao Mao, Yan Wu, “Interaction control for tool manipulation on deformable objects using tactile feedback,” IEEE Robotics and Automation Letters, vol. vol. 8, no. 5, pp. 2700–2707, May 2023.
Haodong Wang, Wenyu Liang, Boyuan Liang, Hongliang Ren, Zhijiang Du, and Yan Wu, “Robust position control of a continuum manipulator based on selective approach and Koopman operator,” IEEE Transactions on Industrial Electronics, vol. 70, no. 12, pp. 12522-12532, Dec. 2023.
Wenyu Liang*, Fen Fang, Cihan Acar, Wei Qi Toh, Ying Sun, Qianli Xu, Yan Wu, “Visuo-Tactile feedback-based robot manipulation for object packing," IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 1151–1158, Feb. 2023.
Fen Fang, Wenyu Liang, Yan Wu, Qianli Xu, Joo Hwee Lim, “Self-Supervised reinforcement learning for active object detection,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10224-10231, Oct. 2022.
Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao*, Kok Kiong Tan, Tong Heng Lee, “Precision force tracking control of a surgical device interacting with a deformable membrane”, IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 5327–5338, Jun. 2022.
Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao, Kok Kiong Tan, Tong Heng Lee, “Adaptive robust impedance control for an ear surgical device with soft interaction,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 3, pp. 1784-1795, Jun. 2022.
Boyuan Liang, Wenyu Liang, Yan Wu, "Parameterized particle filtering for tactile-based simultaneous pose and shape estimation," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 1270-1277, Apr. 2022.
Qinyuan Ren; Wenxin Zhu, Zhao Feng, Wenyu Liang*, “Learning-based force control of a surgical robot for tool-soft tissue interaction,” IEEE Robotics and Automation Letters, 2021, vol. 6, no. 4, pp. 6345 - 6352, Oct. 2021.
Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao, Kok Kiong Tan, Tong Heng Lee, “Integral terminal sliding-mode-based adaptive integral backstepping control for precision motion of a piezoelectric ultrasonic motor,” Mechanical Systems and Signal Processing, vol. 144, pp. 106856, Oct. 2020.
Jun Yik Lau, Wenyu Liang*, Kok Kiong Tan, “Motion control for piezoelectric actuator-based surgical device using neural network and extended state observer,” IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 402-412, Jan. 2020.
Wenyu Liang, Jiawei Cao, Qinyuan Ren, Jian-Xin Xu, “Control of dielectric elastomer soft actuators using antagonistic pairs,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 6, pp. 2862-2872, Oct. 2019.
Wenyu Liang*, Jun Ma, Kok Kiong Tan, “Contact force control on soft membrane for an ear surgical device,” IEEE Transactions on Industrial Electronics, vol. 65, no. 12, pp. 9593-9603, Dec. 2018.
Wenyu Liang*, Kok Kiong Tan, “Force feedback control assisted tympanostomy tube insertion,” IEEE Transactions on Control System Technology, vol. 25, no. 3, pp. 1007-1018, May 2017.

* Corresponding author

Selected Conference Papers

Yilan Xu, Wenyu Liang*, Junyuan Xue, Yan Wu, and Tong Heng Lee, "Sequen-Sync Contact Force/Torque Control Using Nested Fast Terminal Sliding Mode Control Approach," 2025 𝘐𝘌𝘌𝘌/𝘙𝘚𝘑 𝘐𝘯𝘵𝘦𝘳𝘯𝘢𝘵𝘪𝘰𝘯𝘢𝘭 𝘊𝘰𝘯𝘧𝘦𝘳𝘦𝘯𝘤𝘦 𝘰𝘯 𝘐𝘯𝘵𝘦𝘭𝘭𝘪𝘨𝘦𝘯𝘵 𝘙𝘰𝘣𝘰𝘵𝘴 𝘢𝘯𝘥 𝘚𝘺𝘴𝘵𝘦𝘮𝘴 (𝘐𝘙𝘖𝘚 2025), Oct 2025.
Junyuan Xue, Wenyu Liang*, Yilan Xu, Yan Wu, and Tong Heng Lee, "Learning-Based Predictive Impedance Control Towards Safe Predefined-Time Interaction," 2025 𝘐𝘌𝘌𝘌/𝘙𝘚𝘑 𝘐𝘯𝘵𝘦𝘳𝘯𝘢𝘵𝘪𝘰𝘯𝘢𝘭 𝘊𝘰𝘯𝘧𝘦𝘳𝘦𝘯𝘤𝘦 𝘰𝘯 𝘐𝘯𝘵𝘦𝘭𝘭𝘪𝘨𝘦𝘯𝘵 𝘙𝘰𝘣𝘰𝘵𝘴 𝘢𝘯𝘥 𝘚𝘺𝘴𝘵𝘦𝘮𝘴 (𝘐𝘙𝘖𝘚 2025), Oct 2025.
Xinyuan Zhao, Wenyu Liang, Xiaoshi Zhang, Chee Meng Chew, Yan Wu, “Unknown object retrieval in confined space through reinforcement learning with tactile exploration,” 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), pp. 10881-10887, May 2024.
Boyuan Liang, Wenyu Liang, Yan Wu, “Tactile-Guided dynamic object planar manipulation,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 3203-3209, Oct 2022.
Wenyu Liang*, Qinyuan Ren, Xiaoqiao Chen, Junli Gao, Yan Wu, “Dexterous manoeuvre through touch in a cluttered scene,” 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), pp. 6308-6314, May 2021.
Qianli Xu, Fen Fang, Nicolas Gauthier, Wenyu Liang, Yan Wu, Liyuan Li, Joo-Hwee Lim, “Towards efficient multiview object detection with adaptive action prediction,” 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), pp. 13423-13429, May 2021.
Qianli Xu, Nicolas Gauthier, Wenyu Liang, Fen Fang, Hui Li Tan, Ying Sun, Yan Wu, Liyuan Li, Joo Hwee Lim, “TAILOR: Teaching with active and incremental learning for object registration,” The Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI-21), 35(18), pp. 16120-16123, Feb. 2021.
Wenyu Liang*, Zhao Feng, Yan Wu, Junli Gao, Qinyuan Ren, Tong Heng Lee, “Robust force tracking impedance control of an ultrasonic motor-actuated end-effector in a soft environment,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp. 7716-7722, Oct. 2020.
Cailin Ng, Wenyu Liang, Chee Wee Gan, Hsueh Yee Lim, Kok Kiong Tan, “Precision motion control using nonlinear contact force model in a surgical device,” the 41st International Engineering in Medicine and Biology Conference (EMBC 2019), pp. 5378-5381, Jul. 2019.
Wenyu Liang*, Sunan Huang, Jun Ma, Kok Kiong Tan, “Intelligent motion control of ultrasonic motor for an ear surgical device,” the 44th Annual Conference of the IEEE Industrial Electronics Society (IECON 2018), pp. 5656-5661, Oct. 2018.
Wenyu Liang, Jiawei Cao, Qinyuan Ren, "Modelling and control of a dielectric elastomer actuator," 2018 the 3rd International Conference on Advanced Robotics and Mechatronics (ICARM 2018), pp. 124-129, Jul. 2018.
Jiawei Cao, Wenyu Liang, Qinyuan Ren, Ujjaval Gupta, Feifei Chen, Jian Zhu, “Modelling and control of a novel soft crawling robot based on a dielectric elastomer actuator,” 2018 International Conference on Robotics and Automation(ICRA 2018), pp. 4188-4193, May 2018.

* Corresponding author

Book & Book Chapters

Wenyu Liang, Jiawei Cao, Wenxin Zhu, Qinyuan Ren, Motion Control of Soft Robots, Elsevier, 2025.
Tong Heng Lee, Wenyu Liang, Kok Kiong Tan, Clarence W. de Silva, Force and Position Control of Mechatronic Systems: Design and Applications in Medical Devices, Springer Nature, 2020. (https://link.springer.com/book/10.1007/978-3-030-52693-1).
Kok Kiong Tan, Wenyu Liang, Cailin Ng, Chee Wee Gan, Hsueh Yee Lynne Lim, “Ventilation tube applicator: A revolutionary office-based solution for the treatment of otitis media with effusion,” in Handbook of Robotic and Image-Guided Surgery, Elsevier, 2020.
Silu Chen, Nazir Kamaldin, Tat Joo Teo, Wenyu Liang, Chek Sing Teo, Guiling Yang, Kok Kiong Tan, “A limited angle torque actuator with cylindrical Halbach and its large angle tracking control,” in Precision Motion Systems, Elsevier, 2019.

Patents

(a) Kok Kiong Tan, Wenyu Liang, Le Phuong Pham, Sunan Huang, Hsueh Yee Lynne Lim, Chee Wee Gan, “Device for inserting an implant and method of using the same,” SG11201501528P, Mar. 2017, US10307296B, Jun. 2019, EP2895124B1, Nov. 2021.
(b) 陈国强，梁文宇，范黎方，黄苏南，林楔怡，颜子伟，“用于插入植入件的设备以及使用此设备的方法,”发明专利，” CN105025852B，Jul. 2017.
(a) Cailin Ng, Wenyu Liang, Kok Kiong Tan, Chee Wee Gan, Hsueh Yee Lynne Lim, “Method and devices for incision and insertion of a ventilation tube,” PCT/SG2018/050470, Sep. 2017, US11504279B2, Nov. 2022.
(b) 黄采琳,，梁文宇，陈国强，颜子伟，林楔怡，“用于切口和插入通气管的方法和装置，” CN111182864B，Jul. 2022.

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