B. He, N. Zhao, D. Guo, C. Paxson, A. De Goyeneche, M. Lustig, C. Liu, and R. Fearing. Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners. IEEE/ASME Transactions on Mechantronics, 2025, In Review

B. He and T. Tanaka. Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs. IEEE Transactions on Automatic Control, 2024, Accepted

G. C. Thomas, O. Campbell, N. Nichols, N. Brissonneau, B. He, J. James, N. A. Paine, and L. Sentis. Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons. Frontiers in Robotics and AI, 8, 2021

N. Brissonneau, B. He, G. C. Thomas, and L. Sentis. Biologically-Inspired Impedance Control With Hysteretic Damping. IEEE Control Systems Letters, 5(5):1717–1722, 2021 The 2021 DSCD Robotics Technical Committee Best Paper Award, ASME

B. He, H. Huang, G. C. Thomas, and L. Sentis. A Complex Stiffness Human Impedance Model With Customizable Exoskeleton Control. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(11):2468–2477, 2020

B. He and T. Tanaka. Barrier Pairs for Safety Control of Uncertain Output Feedback Systems. In 2023 American Control Conference (ACC), pages 3669–3674. IEEE, 2023

B. He, M. Ghasemi, U. Topcu, and L. Sentis. A Barrier Pair Method for Safe Human-Robot Shared Autonomy. In 2021 60th IEEE Conference on Decision and Control (CDC), pages 2854–2861, 2021

B. He, J. Lee, U. Topcu, and L. Sentis. BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning. In 2020 59th IEEE Conference on Decision and Control (CDC), pages 1404–1409, 2020

B. He, G. C. Thomas, and L. Sentis. Robust Estimator-Based Safety Verification: A Vector Norm Approach. In 2020 American Control Conference (ACC), pages 3419–3424, 2020

H. Huang, H. F. Cappel, G. C. Thomas, B. He, and L. Sentis. Adaptive Compliance Shaping With Human Impedance Estimation. In 2020 American Control Conference (ACC), pages 5131–5138, 2020

B. He, H. Huang, G. C. Thomas, and L. Sentis. Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6748–6755, 2019

B. He, G. C. Thomas, N. Paine, and L. Sentis. Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. In 2019 American Control Conference (ACC), pages 4580–4587, 2019

G. C. Thomas, B. He, and L. Sentis. Safety Control Synthesis With Input Limits: A Hybrid Approach. In 2018 American Control Conference (ACC), pages 792–797, 2018

B. He, K. Chen, R. Schlossman, N. Ormsbee, M. Altman, N. Young, M. Mangum, and L. Sentis. Decentralized Control Systems Laboratory Using Human Centered Robotic Actuators. arXiv preprint arXiv:1803.11119, 2018

C. L. Fok, F. Sun, M. Mangum, A. Mok, B. He, and L. Sentis. Web Based Teleoperation of a Humanoid Robot. arXiv preprint arXiv:1607.05402, 2016

B. He. Towards a Safe and Responsive Control Framework for Human-Centered Robots. Ph.D. Dissertation, The University of Texas at Austin, 2021