
Yingyu Cao, female, born in February 1981, native of Luoyang, Henan Province, Ph.D. in Engineering, Associate Professor, Master Supervisor. She graduated from Beijing Institute of Petrochemical Technology in 2002 with a Bachelor's degree in Mechatronic Engineering; received a Master's degree in Materials Processing Engineering from Beihang University in April 2006; and earned a Ph.D. in Materials Processing Engineering from Beihang University in May 2017. Since April 2006, she has been teaching at the School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, and currently serves as the Director of the Department of Mechanical Engineering. Her research focuses on medical rehabilitation robotics and special-purpose robotics. She currently serves as the Deputy Director of the Interdisciplinary Medicine Committee of the Beijing Interdisciplinary Society, an Executive Member of the Committee on Geriatric Diseases and Disease Prevention and Rehabilitation of the China Disabled Persons' Rehabilitation Association, and a Member of the Popular Science Health Education Working Committee of the China Medical Education Association, among other positions.
As a principal investigator, she has undertaken and completed over 10 projects, including sub-projects of the National Key R&D Program, Beijing Municipal Education Commission Science and Technology Plan Projects, Beijing Excellent Talent Projects, and enterprise-commissioned projects. As a deputy team leader or key member, she has participated in more than 20 national and provincial projects, such as National 04 Projects, National Key R&D Program of the Ministry of Science and Technology, Intelligent Manufacturing Special Projects of the Ministry of Industry and Information Technology, National Natural Science Foundation projects, National "863" Program projects, and Beijing Municipal Science and Technology Commission projects. She has received eight provincial and ministerial-level scientific and technological awards, including the First Prize of Henan Provincial Science and Technology Progress Award, the First Prize of the China Machinery Industry Federation Science and Technology Award, and the First Prize of the Chinese Association of Rehabilitation Medicine Science and Technology Award. She has published over 30 papers, applied for more than 70 national patents, 4 international patents, and 26 software copyrights.
I. Major Research Areas
1. Research on medical rehabilitation robotics
2. Research on machine vision detection technology
3. Research on control technology of special-purpose robots
II. Rewards and Honors
2. Full-body multifunctional modular intelligent rehabilitation robot, First Prize of National Equipment Management and Technological Innovation Achievement, 2022, ranked 2nd
3. Key technologies and applications of mobile welding robots under complex conditions, First Prize of Science and Technology Progress, China Machinery Industry Federation, 2022, ranked 13th
4. Innovative application of key technologies and equipment for sports injury rehabilitation caused by military training, Invention and Innovation Award, China Invention Association, 2022, ranked 2nd
5. Innovation of key technologies and equipment for sports injury rehabilitation, First Prize of Science and Technology Progress, People's Government of Henan Province, 2023, ranked 4th
III. Research Projects
1. Beijing Municipal Science and Technology Commission “Lead the Challenge” Proof-of-Concept Project: Development and Application Verification of Adaptive Upper and Lower Limb Rehabilitation Robot System Based on Brain-Computer Interface (Project No.: 20230481191), Principal Investigator, 2023–2025
2. China Disabled Persons’ Federation Project: Development of Array Airbag Collaborative Automatic Control Pressure Ulcer Prevention Mattress (Project No.: 2023CDFAT-09), Principal Investigator, 2023–2025
3. Sub-project of National Key R&D Program: Development of Underwater High-Pressure Dry Welding Robot System (Project No.: 2023YFC2809800), Principal Investigator, 2023–2026
4. Sub-project of National Key R&D Program: Body Pressure Adaptive Adjustment and Functional Module (Project No.: 2020YFC2007600), Principal Investigator, 2020–2023
5. Beijing Municipal Education Commission General Project: Modeling and Tracking of Liver Dynamic Deformation During Robot-Assisted Percutaneous Puncture, Principal Investigator, 2013–2015
6. Beijing Municipal Education Commission “Young Talent” Program: Research on Navigation and Positioning Technology of Passive-Active Ultrasound-Guided Liver Tumor Microwave Ablation Robot, Principal Investigator, 2013–2015
7. Beijing Municipal Organization Department Excellent Talent Project: Research on 3D Rapid Reconstruction Algorithm of Free-Scan Ultrasound Images, Principal Investigator, 2012–2014
8. Enterprise Project: Development and Transformation of Shield Machine Cutterhead Cleaning Robot System for Large-Diameter Tunneling Equipment, Principal Investigator, 2016–2017
9. Enterprise Project: Kinematics Research of Multifunctional Arch Carriage, Principal Investigator, 2018–2019
10. Enterprise Project: Key Technology Research of Intelligent Rehabilitation Assistance Robot, Principal Investigator, 2021–2025
11. Enterprise Project: Research on EEG Data Analysis Technology for Transcranial Magnetic Navigation Robot, Principal Investigator, 2023–2024
12. Beijing Municipal Science and Technology Commission Major Project: Development of Rehabilitation Robot for Winter Olympic Sports Injuries (Project No.: Z181100003118004), Deputy Team Leader, 2018–2019
13. Beijing Municipal Science and Technology Commission Major Project: Medical Digital Imaging Navigation Technology and Surgical Robot System, Key Member, 2006–2010
14. National Key R&D Program: Development of Intelligent Robot System for Critical Care (Project No.: 2021YFC0122700), Key Member, 2021–2023
IV. Representative Publications
1. ZHAO Zhenxi, CAO Yingyu*, YU Hongbin, YU Huixian, HUANG Junfen. CNNViT-MILF-a: A Novel Architecture Leveraging the Synergy of CNN and ViT for Motor Imagery Classification [J]. IEEE Journal of Biomedical and Health Informatics, 2025.
2. ZENG Cai-you, YU Kai, ZHAO Yuan, CAO Yingyu*, CONG Bao-qiang. Multi-stage martensite transformation behavior in strongly-textured NiTi alloy joint via vacuum laser beam welding [J]. Vacuum, 2025.
3. ZHAO Zhenxi, CAO Yingyu*, YU Hongbin, HUANG Junfen. DA-QuadViT: a domain adaptation motor imagery classification model based on a novel Quadruple ViT structure [J]. Expert Systems with Applications, 2025, 249: 129248.
4. CAO Yingyu, GAO Shaowei, WANG Chaofei, et al. High-adaptability automatic acupoint localization method based on back morphology classification [J]. Science Technology and Engineering, 2025, 25(21): 8814–8822.
5. CAO Yingyu, WANG Chaofei, HUANG Junfen, et al. Airbag-type pressure ulcer prevention mattress based on time-pressure coupled control [J]. Mechanical Design, 2025, 42(08): 128–133.
6. ZHAO Zhenxi, CAO Yingyu*, YU Hongbin, YU Huixian, HUANG Junfen.* A novel hybrid brain–computer interface for EEG and EMG based on an ensemble learning approach for motor imagery classification tasks [J]. IEEE Transactions on Instrumentation and Measurement, 2025, 74: 1–14.
7. CAO Yingyu, ZHANG Weixu, WEI Wei, et al. Evaluation of the effects of applying physical movement function assessment and corrective training techniques on improving recruits’ motor performance [J]. Sports Science and Health Research, 2025, (02): 1–7.
8. Yingyu Cao, Shaowei Gao, Huixian Yu, Zhenxi Zhao, Dawei Zang, Chun Wang. A motor imagery classification model based on hybrid brain–computer interface and multitask learning of electroencephalographic and electromyographic deep features [J]. Frontiers in Physiology, 2024, 15: 1487809.
9. CAO Yingyu, ZHAO Zhenxi, BAO Renren, et al. Automatic localization method of back acupoints based on SK-UNet network [J]. Chinese Journal of Rehabilitation Medicine, 2024, 39(11): 1662–1667.
10. CAO Yingyu, WANG Chun, HUANG Junfen, et al. Research on the irregular airbag cushion for pressure sore prevention and the external pressure perception method of the human body [J]. Journal of Mechanical Design, 2024, 41(04): 158–163.
11. HUANG Junfen, NING Haoqiang, CAO Yingyu*, et al. Research status and development trends of body-weight-support walking rehabilitation training devices [J]. Journal of Beijing Institute of Petrochemical Technology, 2024, 32(01): 15–19+45.
12. CAO Yingyu, GAO Zun, HUANG Junfen, et al. Research on feces recognition models for the human body based on neural network pattern recognition [J]. Journal of Beijing Institute of Petrochemical Technology, 2024, 32(1): 60–64.
13. CAO Yingyu, YOU Jiacheng, ZHANG Yanqi, et al. Design of a multifunctional bed for sports injury rehabilitation robots [J]. Journal of Beijing Institute of Petrochemical Technology, 2019, 27(4): 9–14.
14. CAO Yingyu, XUE Long, QI Bojin, et al. Composite configuration interventional therapy robot for the microwave ablation of liver tumors [J]. Chinese Journal of Mechanical Engineering, 2017, 30(6): 1416–1425.
15. CAO Yingyu, QI Bojin, ZHANG Yanqi, et al. Research on positioning method for redundant composite configuration minimally invasive surgical robots [J]. Journal of Beijing Institute of Petrochemical Technology, 2016, 24(4): 43–47.
16. CAO Yingyu, ZHANG Jian, CUI Licheng, et al. Design and implementation of the remote center of motion mechanism for minimally invasive surgical robots [J]. Journal of Beijing Institute of Petrochemical Technology, 2015, 23(4): 50–54.
17. CAO Yingyu, GONG Huiqi, GAO Peng. Study on the dual-carriage scheme of wide-format digital inkjet printing machines [J]. Journal of Beijing Institute of Petrochemical Technology, 2014, 22(04): 19–22.
18. CAO Yingyu, Gong H Q, Jin J Y, et al. The study of wide-format digital inkjet printers’ carriage control method with double-carriage [J]. Applied Mechanics and Materials, 2015, 741: 749–756.
19. CAO Yingyu, Gong Huiqi, Gao Peng. Modal analysis based on UG and ANSYS for wide-format inkjet printing machine [J]. Advanced Materials Research, 2014, 988: 319–323.
20. CAO Yingyu, DENG Shuangcheng, CUI Weitao, et al. Study of an ultrasound-guided microwave ablation treatment robot system for liver tumors [J]. Journal of Beijing Institute of Petrochemical Technology, 2012, 20(4): 1–6.
21. CAO Yingyu, Qi Bojin, Wang Shaoxian, et al. The navigation and positioning method of active plus passive ultrasound-guided robot for liver cancer coagulation therapy [C]. Advanced Materials Research, 2013, 605–607: 1453–1459.
22. CAO Yingyu, LIU Jiasen, WANG Shaoxian, et al. Design of an automatic needle-insertion mechanism for medical percutaneous puncture robots [J]. Journal of Beijing Institute of Petrochemical Technology, 2012, 20(3): 40–44.
23. HUANG Junfen, HUANG Minshuang, CAO Yingyu*, et al. Research on a laser-tracking rail-free welding robot and its weld seam position recognition system [J]. Electric Welding Machine, 2008, (06): 13–15.
24. CAO Yingyu, XUE Long, CUI Weitao, et al. Study of a flexible-track welding robot for spherical tank welding [J]. Electric Welding Machine, 2009, 39(04): 68–70.
25. CAO Yingyu, HUANG Minshuang, JIANG Lipei, et al. A novel contact-type photoelectric weld seam tracking sensor [J]. Electric Welding Machine, 2008, (02): 21–23.
26. CAO Yingyu, QI Bojin, ZHENG Minxin. Anti-interference design of battery management system for electric vehicles [J]. Industrial Control Computer, 2005, (12): 67–68.
V. Patents and Software Copyrights
2. Cao Yingyu, Xue Long, Guo Leyi, Sun Dongsheng, Zhang Xin, Yun Xinyi.
An Isokinetic Motion Control Method and System for Rehabilitation Robots [P], Chinese Invention Patent, ZL202011000246.0, Authorization Date: 2023-07-25.
3. Cao Yingyu, Xue Long, Huang Junfen, Huang Jiqiang, Zou Yong, Liang Yajun, Wang Wei, Han Feng, Zhang Rui. Procédé et système pour calculer le moment réel appliqué sur un robot de rééducation par le patient [P], French Patent, Authorization Date: 2022-03-21.
4. Cao Yingyu, Kang Ke, Huang Junfen, Xue Long, Lu Chuang, Gao Zongzhi, Hu Shuai. A Dynamic Head Positioning and Tracking Method and System [P],
Chinese Invention Patent, ZL202211344074.8, Authorization Date: 2023-03-17.
5. Cao Yingyu, Xue Long, Wang Guoshuai, Zhang Yanqi. A Rehabilitation Robot with a Coupled Physiotherapy Device [P], Chinese Invention Patent, ZL201910555061.7, Authorization Date: 2023-03-14.
6. Cao Yingyu, Zhang Xin, Huang Junfen. Ankle Rehabilitation Training Device [P], Chinese Invention Patent, ZL202111563475.8, Authorization Date: 2023-02-21.
7. Cao Yingyu, Xue Long, Huang Junfen, Huang Jiqiang, Zou Yong, Liang Yajun, Han Feng, Zhang Ruiying. A Large-Diameter Pipeline Circumferential Welding Device and Welding Method [P], Chinese Invention Patent, ZL202110569238.6, Authorization Date: 2022-11-22.
8. Cao Yingyu, Xue Long, Liang Yajun, Huang Jiqiang, Zou Yong, Huang Junfen, Han Feng, Zhang Ruiying. A Working Surface Adjustment Device and Large-Diameter Pipeline Circumferential Welding System [P], Chinese Invention Patent, ZL202110569237.1, Authorization Date: 2022-10-04.
9. Cao Yingyu, Xue Long, Zhang Yanqi, Wang Guoshuai. Upper Limb Rehabilitation System [P], Chinese Invention Patent, ZL201910555908.1, Authorization Date: 2021-05-25.
10. Cao Yingyu, Xue Long, Zhang Zhengyu, Wang Guoshuai. Method, Device, Equipment, and Storage Medium for Acquiring a 2D Panoramic Image [P], Chinese Invention Patent, ZL201910476643.6, Authorization Date: 2021-05-05.
11. Cao Yingyu, Xue Long, Zhang Zhengyu, Wang Guoshuai. Point Cloud Acquisition Method, Device, System, and Storage Medium [P], Chinese Invention Patent, ZL201910476628.1, Authorization Date: 2021-05-05.
12. Cao Yingyu, Cao Junfang, Wang Guoshuai, Zhang Yanqi, Zhang Zhengyu. A Monitorable Underwater Waterjet Cutting Device [P], Chinese Invention Patent, ZL201810184466.X, Authorization Date: 2020-12-29.
13. Cao Yingyu, Wang Guoshuai, Zhang Yanqi, Fang Wei, Huang Kang. A Seven-DOF Master–Slave Robotic Arm Capable of Simultaneous Multi-Joint Locking [P], Chinese Invention Patent, ZL201810184462.1, Authorization Date: 2020-10-16.
14. Cao Yingyu, Xue Long, Liang Yajun, Dong Junjie, Wang Guoshuai, Huang Junfen, Huang Jiqiang. Groove Automatic Cutting System and Method Based on 3D Vision and Model Matching [P], Chinese Invention Patent, ZL201711312972.4, Authorization Date: 2020-08-21.
15. Cao Yingyu, Xue Long, Zhang Zhengyu, Wang Guoshuai. Groove Cutting Method, Device, and Control Equipment [P], Chinese Invention Patent, ZL201910477162.7, Authorization Date: 2020-08-07.
16. Cao Yingyu, Xue Long, Liang Yajun, Zou Yong, Wang Guoshuai, Dong Junjie.
Electric Heating Element Imaging System [P], Chinese Invention Patent, ZL201711227314.5, Authorization Date: 2019-07-26.
17. Cao Yingyu, Gong Huiqi, Gao Peng. Carriage Control Method for Wide-Format Digital Inkjet Printers [P], Chinese Invention Patent, ZL201410225612.0, Authorization Date: 2016-02-03.
18. Cao Yingyu, Zhao Zhenxi, Huang Junfen, Kang Ke, Xue Long, Zou Yong, Huang Jiqiang. Data Encryption Transmission Method and System [P], Chinese Patent, ZL202210309662.1, Authorization Date: 2024-06-04.
19. Cao Yingyu, Yun xinyi, Huang Junfen, A Human Excretion Prediction Method, Device, and Electronic Equipment Based on Logistic Regression [P],
Chinese Patent, ZL202111424757, Authorization Date: 2025-03-28.
20. Xue Long, Cao Yingyu, Wang Guoshuai, Zhang Yanqi. A Lower Limb Rehabilitation Training Robot [P], Chinese Invention Patent, ZL201910555067.4, Authorization Date: 2021-05-25.
21. Xue Long, Cao Yingyu, Wang Guoshuai, Zhang Yanqi, Liang Yajun. A Multifunctional Upper–Lower Limb Rehabilitation Robot [P], Chinese Invention Patent, ZL201910555063.6, Authorization Date: 2021-06-25.
22. Xue Long, Cao Yingyu, Fang Wei, Jiang Zhen, Han Feng. Rotary Positioning Mechanism and Upper Limb Rehabilitation Training System [P], Chinese Invention Patent, ZL201910555041.X, Authorization Date: 2020-12-01.
23. Xue Long, Cao Yingyu, Fang Wei, Jiang Zhen, Han Feng.A Steel Coil Welding Method and System [P], Chinese Invention Patent, ZL201910870814.3, Authorization Date: 2021-03-26.
24. Xue Long, Cao Yingyu, Xi Jianting. Automated Polishing Method, Device, and Equipment [P], Chinese Invention Patent, ZL201910477179.2, Authorization Date: 2020-12-04.
25. Xue Long, Cao Yingyu, Wang Kun, Liu Feixiang, Cheng Yongliang. Shield Machine Cutterhead Cleaning Robot System and Cleaning Method [P], Chinese Invention Patent, ZL201711272345.2, Authorization Date: 2021-04-02.
26. Xue Long, Cao Yingyu, Cao Junfang, Liang Yajun, Zou Yong, Huang Jiqiang, Wang Guoshuai. Surfacing Welding Robot and Annular Baffle Surfacing Welding System [P], Chinese Invention Patent, ZL201810249769.5, Authorization Date: 2020-06-09.
27. Xue Long, Cao Yingyu, Wang Guoshuai, Liang Yajun, Huang Junfen, Han Feng. Chain Link Device and Operating Method [P], Chinese Invention Patent, ZL201811254076.1, Authorization Date: 2021-07-06.
28. Xue Long, Cao Yingyu, Qi Hao.An Automatic Welding Device for Assemblies [P], Chinese Invention Patent, ZL201911063726.9, Authorization Date: 2021-10-12.
29. Xue Long, Cao Yingyu, Yu Haitao. Welding Torch Head for Adjusting Torch Position [P], Chinese Invention Patent, ZL201410136389.2, Authorization Date: 2016-08-24.
30. Xue Long, Cao Yingyu, Zhao Jie. Local Dry-Type Welding Small Drainage Device [P], Chinese Invention Patent, ZL200910181151.0, Authorization Date: 2014-07-02.
31. Xue Long, Cao Yingyu, Cao Junfang, Liang Yajun, Zhang Yanqi. A Foldable Quick-Clamping Rail-Guided Mobile Robot [P], Chinese Invention Patent, ZL201711273183.4, Authorization Date: 2019-12-20.
32. Cao Yingyu, Gao Shaowei, Wang Zhaofei, Liu Qian. Automatic Positioning Software for Human Back Acupoints V1.0. Registration No. 2024SR0017525, 2024-01-03.
33. Cao Yingyu, Gao Zun, Gao Zongzhi. EEG Signal Preprocessing and Feature Extraction System V1.0. Registration No. 2024SR0039242, 2024-01-05.
34. Cao Yingyu. Array Airbag Cooperative Automatic Control Anti-Pressure Ulcer Mattress System V1.0. Registration No. 2025SR0259759, 2025-02-14.
35. Cao Yingyu, Gao Shaowei, Ding Jihui, Li Tianpeng. Intelligent Assisted Annotation Software for Human Back Acupoints V1.0. Registration No. 2024SR0212919, 2024-02-01.
36. Cao Yingyu, Gao Zun, Wang Chun. Automatic Control Robot System for Motion Intention Recognition V1.0. Registration No. 2024SR1085275, 2024-07-30.
37. Cao Yingyu, Gao Shaowei, Wang Zhaofei. Vision-Based Human Back Skeletal Functional Region Segmentation System V1.0. Registration No. 2024SR1140320, 2024-08-07.
38. Cao Yingyu, Gao Shaowei, Wang Zhaofei, Li Tianpeng. Cocoon Automatic Classification System Based on Grid Clusters V1.0. Registration No. 2024SR1142936, 2024-08-07.
39. Cao Yingyu, Wang Zhaofei, Gao Shaowei. Cocoon Dataset Creation System Based on Grid Clusters V1.0. Registration No. 2024SR1142856, 2024-08-07.
40. Cao Yingyu, Liu Qian, Hu Shuai, Gao Zongzhi, Huang Junfen, Wang Wei. Deep Learning-Based Target-Assisted Positioning Software for TMS Treatment Robots V1.0. Registration No. 2024SR0952692, 2024-07-08.
41. Cao Yingyu, Gao Shaowei, Wang Zhaofei, Liu Qian. Automatic Positioning Software for Human Back Acupoints V1.0. Registration No. 2024SR0017525, 2024-01-03.
42. Cao Yingyu, Gao Zun, Gao Zongzhi. EEG Signal Preprocessing and Feature Extraction System V1.0. Registration No. 2024SR0039242, 2024-01-05.
43. Cao Yingyu, Liu Qian, Wang Wei, Wang Kuo. Bluetooth-Based Intelligent Pressure Sensing Mattress App V1.0. Registration No. 2023SR1319197, 2023-10-27.
44. Cao Yingyu, Zhao Zhenxi. Automatic Positioning Software for Human Acupoints V1.0. Registration No. 2022SR1516405, 2022-11-16.
45. Cao Yingyu, Kang Ke. Single-Camera Spatial Localization System V1.0. Registration No. 2022SR0074428, 2022-01-12.
46. Cao Yingyu, Kang Ke. Stereo Localization System with Depth Cameras V1.0. Registration No. 2022SR0074429, 2022-01-12.
47. Cao Yingyu, Xue Long, Yun Xinyi, Sun Dongsheng, Zhao Zhenxi. Whole-Body Multi-Joint Rehabilitation Robot Software V1.0. Registration No. 2020SR1621433, 2020-11-23.
48. Cao Yingyu, Zhao Zhenxi, Kang Ke, Lu Chuang. SEM and TEM Material Sharing System V1.0. Registration No. 2021SR1710411, 2021-11-11.
49. Cao Yingyu, Zhao Zhenxi, Kang Ke, Lu Chuang. User Manual for Abnormality Detection System Based on MySQL V1.0. Registration No. 2021SR1571072, 2021-10-27.
50. Cao Yingyu, Zhao Zhenxi. Key Distribution System Based on RSA Method V1.0. Registration No. 2021SR1571035, 2021-10-27.
51. Cao Yingyu, Zhao Zhenxi. Prime Number and Congruence Symbol Computation Software V1.0. Registration No. 2021SR1571073, 2021-10-27.
52. Cao Yingyu, Xue Long, Guo Leyi, Kang Ke. Knee Joint Sports Injury Rehabilitation Robot Software V1.0. Registration No. 2020SR1609090, 2020-11-19.
53. Cao Yingyu, Xue Long, Ren Jiwei, Zhang Xin. Hip Joint Sports Injury Rehabilitation Robot Software V1.0. Registration No. 2020SR1609091, 2020-11-19.
54. Gao Zongzhi, Xue Long, Cao Yingyu, Gao Zun. EEG Signal Classification System V1.0. Registration No. 2024SR0038115, 2024-01-05.
55. Xue Long, Cao Yingyu, Tian Xiaoping, Ren Jiwei, Guo Leyi. Active Training Game Software for Joint Rehabilitation Robots V1.0. Registration No. 2020SR1609329, 2020-11-19.
56. Xue Long, Cao Yingyu, Tian Xiaoping, Ren Jiwei, Guo Leyi. Shoulder Joint Sports Injury Rehabilitation Robot Software V1.0. Registration No. 2020SR1609328, 2020-11-19.
57. Xue Long, Cao Yingyu, Tian Xiaoping, Lu Chuang. Elbow Joint Sports Injury Rehabilitation Robot Software V1.0. Registration No. 2020SR1609151, 2020-11-19.
VI. Admissions Information
I primarily recruit Master's students for Academic Degree in Mechanical Engineering (0802) and Professional Degree in Mechanical Engineering (0855). Students majoring in mechanical engineering, automation, computer science, and related fields who are diligent, innovative, and collaborative are warmly welcomed to join our team.