n 主要研究方向
主要从事康复及医疗机器人控制与应用方面的研究。具体研究内容包括：
（1）人机协同辅助腹腔镜手术的研究，通过设计控制算法，用6轴或7轴机械臂来辅助医生进行手术操作；
（2）人机交互算法研究，对被控对象建模，并用经典或者基于学习的方法对其进行控制；
（3）康复机器人研究，对脑电、肌电、心电等生理信号分析，进而控制机器人运动。
n 主要学术成果
1. 辅助腹腔镜手术机器人系统
作为骨干成员，参与欧盟高校，企业和医院合作“手术舱系统”，负责腹腔镜手术协同操作器控制，辅助医生手术。功能包括微创手术器材实时重力补偿（减轻医生手术负担），年轻医生手部抖动提高手术精度（施加粘滞力产生阻尼，过滤抖动），自适应阻尼控制（根据器械速度及精度要求产生反馈力），固定手术器械，用机器臂来操控内窥镜（提高医生操作的灵活度和精度），手术模式智能切换（医生手术/暂停手术），手术器械虚拟墙壁（限制手术器械在安全区内操作），套管位置的实时监测等。
2. 人机交互算法研究
对婴幼儿市场进行需求调研，针对用户需求，设计多功能智能婴儿椅和婴儿车，并对其进行建模与控制。研究在人机共存的情况下，用基于模型预测控制（MPC）和RBFNN补偿的阻抗控制方法，实现更加安全和精确的控制。
l Dong L. and Morel G. (2022), Robust Trocar Identification and its Application in Robotic Minimally Invasive Surgery. The International Journal of Medical Robotics and Computer Assisted Surgery. Vol. 18, Issue. 4, 2022: e2416.
l Dong L., Perrin N., Richer F., Roby-Brami A and Morel G. (2022), The Stability Investigation of Variable Viscosity Control in the Human-robot Interaction. The International Journal of Medical Robotics and Computer Assisted Surgery. Vol. 18, No. 5, 2022: e2416.
l Dong L., Richer F., Roby-Brami A and Morel G. (2022), Smoothly Adapting Viscosity to Velocity During Comanipulated Pointing Movements. Assembly Automation. Vol. 42, No. 5, 2022, pp. 686-693(8).
l Zhang C.H., Huang S., Shen W.F.* and Dong L.* (2022), Novel Modularization Design and Intelligent Control of a Multifunctional and Flexible Baby Chair. Actuators. Vol. 11, No. 7, p. 186/11(7): 186.
l Zhang C.H., He Z.T., He X.T., Shen W.F. * and Dong L. * (2022), The Modularization Design and Autonomous Motion Control of a New Baby Stroller. Frontiers in Human Neuroscience. 2022 ;16:1000382.
l Chen L., Su Z., He X.T. Chen X. and Dong L.* (2022), The Application of Robotics and Artificial Intelligence in Embroidery: Challenges and Benefits. Assembly Automation. Vol. 42, No. 6, pp. 851-868.
l Dong L. and Morel G. (2021), Control Strategy at Different Instrument Points Using Lever Model in Laparoscopic Surgery, 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics. IEEE, 2021: 7-12.（中国自动化学会A类会议，最佳论文提名奖）
l Gruijthuijsen C., Dong L., Morel G. and Vander Poorten E. (2018), Leveraging the Fulcrum Point in Robotic Minimally Invasive Surgery. IEEE Robotics and Automation Letters. 3(3), 2071-2078.
l Dong L. and Morel G. (2016), Robust Trocar Detection and Localization During Robot-assisted Endoscopic Surgery, IEEE International Conference on Robotics and Automation. IEEE, 2016: 4109-4114.（机器人顶会，CCF-B）
l Dong L. and Wang N. (2012), Parameter Estimation of Heavy Oil Cracking Model Using Cycling GA of Multisubpopulations, Control Engineering of China, vol. 19, pp. 1319-1322.
