Teng Li

Teng Li

(he/him)

Robot Control Systems, Surgical Robotics, Teleoperation, Haptics.

Curriculum Vitae

The PDF version of my CV can be found here.

Table of Contents

Education

Visiting Experience

Robots with Hands-on Experience

Teaching Assistant (TA) Experience

  1. TA, (Win. 2024), on ECE 315 Labs - Computer Interfacing, (C, FreeRTOS, Digilent Zybo Z7 board);
  2. TA, (Win. 2024), on ECE 464 Lec. - Medical Robotics and Computer-Integrated Intervention;
  3. TA, (Fall 2023), on ECE 312 Labs - Embedded System Design, (MPLAB, PICkit5, KiCAD);
  4. TA, (Win. 2023), on ECE 220 Labs - Programming for Electrical Engineering, (C/C++);
  5. LI, (Fall 2022), on ECE 360 Labs - Control Systems I, (Matlab/Simulink);
  6. LI, (Win. 2022), on ECE 360 Labs - Control Systems I, (Matlab/Simulink);
  7. TA, (Fall 2021), on ECE 340 Labs - Discrete Time Signals and Systems, (Matlab/Simulink);
  8. TA, (Win. 2021), on ECE 360 Lec. - Control Systems I;
  9. TA, (Fall 2020), on ECE 360 Labs - Control Systems I, (Matlab/Simulink);
  10. GTLP Level-1, (Oct. 2020), completed the Graduate Teaching and Learning Program Level 1: Foundations;
  11. TA, (Win. 2020), on ENCMP 100 Labs - Computer Programming for Engineers, (Matlab).
    • Note: TA, teaching assistant; LI, lab instructor; Win., winter term; Lec., Lecture marker.

Academic Activities

PhD Thesis

  1. Teng Li. “Developing a Two-Arm Robot-Assisted System for Arthroscopic Surgery”. PhD thesis, 202404. Specialization: Biomedical Engineering. Supervisor: Mahdi Tavakoli. Department: Department of Electrical and Computer Engineering. Institution: University of Alberta. pp. 1-216, April 2024. [DOI]

Publications

  1. Teng Li, Sunny Zhang, Thomas Looi, and Dale J Podolsky. “A Framework of Real2Sim Teleoperation System for Evaluating Surgical Robotic Tool Design”. 2025 International Symposium on Medical Robotics (ISMR 2025), May 14-16, Georgia Tech, Atlanta, GA, USA, 2025. pp. 204-210. ( with a 6DOF Phantom Omni robot ) [IEEE Xplore] [Demo Video] [ResearchGate]

  2. Teng Li. “A Teleoperation System with Impedance Control and Disturbance Observer for Robot-Assisted Rehabilitation”. arXiv, arXiv:2412.03619, pp. 1-10, 2024. ( with two 2DOF Quanser's Rehabilitation robots ) [arXiv] [Demo Video] [PDF]

  3. Teng Li, Armin Badre, and Mahdi Tavakoli. “Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System”. Journal of Medical Robotics Research (JMRR), 09(03n04):2450004, 2024. ( with two 6DOF Quanser's HD2 robots ) [World Scientific] [Demo Video] [ResearchGate]

  4. Teng Li, Amir Zakerimanesh, Yafei Ou, Armin Badre, and Mahdi Tavakoli. “Iterative Learning for Gravity Compensation in Impedance Control”. IEEE/ASME Transactions on Mechatronics (TMECH), vol. 30, no. 1, pp. 119-130, Feb. 2025. ( with a 3DOF PHANToM Premium 1.5A robot ) [IEEE Xplore] [Demo Video] [ResearchGate]

  5. Teng Li, Hongjun Xing, Ehsan Hashemi, Hamid D. Taghirad, Mahdi Tavakoli. “A Brief Survey of Observers for Disturbance Estimation and Compensation”. Robotica, 41(12), 3818–3845, 2023. Cambridge University Press. ( with a 3DOF PHANToM Premium 1.5A robot ) [Robotica OA] [Demo Video] [ResearchGate]

  6. Teng Li, Armin Badre, Farshid Alambeigi, and Mahdi Tavakoli. “Robotic Systems and Navigation Techniques in Orthopedics: A Historical Review”. Applied Sciences, Section: Robotics and Automation, Special Issue: Surgical Robotics Design and Clinical Applications. 13(17):9768, 2023. [MDPI-applsci] [ResearchGate]

  7. Teng Li, Armin Badre, Hamid D. Taghirad, and Mahdi Tavakoli. “Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics”. 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2023), June 28-30, Seattle, Washington, USA, 2023. pp. 179-186. DOI: 10.1109/AIM46323.2023.10196130. ( with a 7DOF Franka Emika Panda robot ) [IEEE Xplore] [Demo Video] [ResearchGate]

  8. Teng Li, Armin Badre, Hamid D. Taghirad, and Mahdi Tavakoli. “Neural Network Learning of Robot Dynamic Uncertainties and Observer-Based External Disturbance Estimation for Impedance Control”. 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2023), June 28-30, Seattle, Washington, USA, 2023. pp. 591-597. DOI: 10.1109/AIM46323.2023.10196132. ( with a 3DOF PHANToM Premium 1.5A robot ) [IEEE Xplore] [ResearchGate]

  9. Teng Li, Armin Badre, Hamid D. Taghirad, and Mahdi Tavakoli. “Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery”. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), October 23-27, Kyoto, Japan, 2022, pp. 11172-11179. doi: 10.1109/IROS47612.2022.9981208. ( with a 3DOF PHANToM Premium 1.5A robot ) [IEEE Xplore] [Demo Video] [ResearchGate]

  10. Teng Li, Hongjun Xing, Hamid D. Taghirad, and Mahdi Tavakoli. “EMG-Based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging”. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), October 23-27, Kyoto, Japan, 2022, pp. 670-675. doi: 10.1109/IROS47612.2022.9981615. ( with a 7DOF Franka Emika Panda robot ) [IEEE Xplore] [Demo Video] [ResearchGate]

  11. Teng Li, Xiao Meng, and Mahdi Tavakoli. “Dual Mode pHRI-teleHRI Control System with A Hybrid Admittance-Force Controller for Ultrasound Imaging”. Sensors, Section: Sensors and Robotics, Special Issue: Sensors Technology for Medical Robotics. 22(11):4025, 2022. ( with a 7DOF Franka Emika Panda robot ) [MDPI] [Demo Video] [ResearchGate]

  12. Teng Li, Ali Torabi, Hongjun Xing, and Mahdi Tavakoli. “Improving A User’s Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of A Redundant User Interface”. In 2021 IEEE International Conference on Autonomous Systems (ICAS 2021), August 11-13, Montreal, QC, Canada, 2021, pp. 1–5. ( with a 4DOF planar robot ) [IEEE Xplore] [ResearchGate]

  13. Dangxiao Wang, Teng Li, Naqash Afzal, Jicong Zhang, and Yuru Zhang. “Haptics-Mediated Approaches for Enhancing Sustained Attention: Framework and Challenges”. SCIENCE CHINA Information Sciences, 62(11): 211101.1-21101.26, 2019. [Springer Link]

  14. Teng Li, Dangxiao Wang, Cong Peng, Chun Yu, and Yuru Zhang. “Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback”. International Journal of Human-Computer Studies, 110: 33-44, 2018. [ScienceDirect]

  15. Dangxiao Wang, Teng Li, Gaofeng Yang, and Yuru Zhang. “Effects of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation”. IEEE Transactions on Haptics, 10(3): 350-357, 2017. DOI: 10.1109/TOH.2017.2672549. [IEEE Xplore]

  16. Dangxiao Wang, Teng Li, Yuru Zhang, Jianxia Hou. “Survey on Multisensory Feedback Virtual Reality Dental Training Systems”. European Journal of Dental Education, 20(4): 248-260, 2016. [Wiley]

  17. Teng Li, Dangxiao Wang, Shusheng Zhang, Yuru Zhang, and Chun Yu. “Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip Force”. 2015 IEEE World Haptics Conference (WHC 2015), Northwestern University, Evanston, IL, USA, June 22-26, 2015. pp: 408-414. doi: 10.1109/WHC.2015.7177746. [IEEE Xplore]

  18. Dangxiao Wang, Siming Zhao, Teng Li, Yuru Zhang, Xiaoyan Wang. “Preliminary Evaluation of A Virtual Reality Dental Simulation System on Drilling Operation”. Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S747-S756, 2015. [IOS Press]

  19. Cong Peng, Dangxiao Wang, Yuru Zhang, Teng Li. “Quantifying Differences Between Five Fingers in Speed-Accuracy Tradeoff for Force Control Tasks”. 2017 IEEE World Haptics Conference (WHC 2017). Fürstenfeldbruck (Munich), Germany, June 6-9, 2017. pp: 275–280. doi: 10.1109/WHC.2017.7989914. [IEEE Xplore]

  20. Dangxiao Wang, Yilei Zheng, Teng Li, Cong Peng, Lijun Wang, and Yuru Zhang. “Multi-Modal Human-Machine Interaction for Human Intelligence Augmentation”. SCIENTIA SINICA Informationis, 2018, 48(04): 449-465. [In Chinese] [SciEngine]