马鑫，分别于2011年与2017年在大连理工大学获得本科与博士学位。2017年至2019年在香港中文大学医学院从事医疗机器人相关研究工作。2019年至2021年在美国普渡大学进行博士后研究工作。2021年至2025年在香港中文大学机械与自动化工程系任研究助理教授。主持香港GRF、ITF、NSFC青年基金、广东省面上基金、粤港科技创新联合资助项目等多个项目。发表论文100余篇，包括TRO、TMECH、TII、TIE、SORO、TSMCS、TCY、JAS等。授权美国专利1项，申请美国专利3项，授权中国专利14项。成果获得第九届中国国际大学生创新大赛-全国金奖、IEEE IRAC会议最佳论文奖、IEEE ReMAR会议最佳论文提名奖、IEEE IRAC会议最佳论文提名奖等。
研究领域：
◆ 医疗机器人: 鼻窦手术机器人；胸腹腔手术机器人；肠道手术机器人；康复机器人；自动化手术控制算法
◆ 物流机器人: 软体吸附式机器人；软体灵巧手
◆ 足式机器人: 仿生尾巴；四足机器人；跳跃机器人
◆ 视觉测量: 高精度视觉感知；视觉系统畸变模型； 跨介质相机视觉成像
工作经历：
◆ 2025年5月起，南方科技大学机械与能源工程系，助理教授
◆ 2021年12月至2025年5月，香港中文大学机械自动化工程学系，研究助理教授
◆ 2019年10月至2021年5月，美国普渡大学，博士后研究员
◆ 2017年10月至2019年6月，香港中文大学医学院，博士后研究员
学习经历：
◆ 2017年10月，大连理工大学机械工程学院，博士
◆ 2011年6月，大连理工大学机械工程学院, 学士
所获荣誉：
◆ 第九届中国国际大学生创新大赛-全国金奖
◆ IEEE IRAC 2024会议最佳论文奖
◆ IEEE ReMAR 2024会议最佳论文提名奖
◆ IEEE IRAC 2024会议最佳论文提名奖
◆ 2023年中国国际大学生创新大赛-优秀创新创业导师
代表文章：
◆ Jinfei Hu; Zelong Chen; Yinjie Lin; Zheng Chen; Bin Yao; Xin Ma*; On the Fully Decoupled Rigid-body Dynamics Identification of Serial Industrial Robots, IEEE Transactions on Robotics (T-RO), 2025, Accepted.
◆ Xuchen Wang; Yiying Liang; Shengzhi Wang; Jing Shu; Puchen Zhu; Wenkai Lai; Jiajun An; Jianshu Zhou; Xin Ma*; A Dexterity and Exploration Enhanced Quadruped Robot with a Multi-Functional Retractable Variable-Stiffness Manipulator, IEEE/ASME Transactions on Mechatronics (T-MECH), 2025, Accepted.
◆ Jianshu Zhou; Junda Huang; Boyuan Liang; Xiang Zhang; Xin Ma; Masayoshi Tomizuka*; Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity, IEEE/ASME Transactions on Mechatronics (T-MECH), 2025, Accepted.
◆ Yi Yang; Xiao Li; Xuchen Wang; Mei Liu; Junwei Yin; Weibing Li; Richard M. Voyles; Xin Ma*; A strictly predefined-time convergent and anti-noise fractional-order zeroing neural network for solving time-variant quadratic programming in kinematic robot control, Neural Networks, 2025, 186: 107279.
◆ Huayu Zhang; Tianle Flippy Pan; Jianshu Zhou; Boyuan Liang; Jing Shu; Puchen Zhu; Jiajun An; Yunhui Liu; Xin Ma*; A Variable Stiffness and Transformable Entanglement Soft Robotic Gripper, IEEE International Conference on Robotics and Automation (ICRA), 2025, Accepted.
◆ Jiajun An; Huayu Zhang; Shengzhi Wang; Zelin Li; Han Lin; Zihan Oliver Zeng; Qing Wen; Xingming Gan; Dongming Gan; Upinder Kaur*; Xin Ma*; Bio-Inspired Soft Variable-Stiffness Prehensile Tail Enabling Versatile Grasping and Enhancing Dynamic Mobility, IEEE Robotics and Automation Letters (RA-L), 2025, 10(6): 5753–5760.
◆ Xin Ma; Dexiu Ma; Mei Liu; Distribution-Allowed Noise-Resistant Neural Dynamics for Constrained Time-Dependent Quadratic Programming With kWTA Application, IEEE Transactions on Systems, Man, and Cybernetics: Systems (SMCS), 2025.
◆ Mei Liu; Kai Ruan; Huanmei Wu; Xin Ma*; Few-Shot-Learning-Like Neural Dynamics for Time-Dependent Multilinear M-Tensor Equation, IEEE Transactions on Industrial Informatics (TII), 2025, 21(3): 2164–2173.
◆ Long Jin; Yutong Li; Yingqi Chen; Zhenming Su*; Xin Ma*; An Event-Triggered k-WTA Model With Experimental Verification on Multirobot System, IEEE Transactions on Industrial Electronics (TIE), 2025.
◆ Tianle Pan; Jianshu Zhou; Zihao Zhang; Huayu Zhang; Jinfei Hu; Jiajun An; Yunhui Liu; Xin Ma*; Transformable Soft Gripper: Uniting Grasping and Suction for Amphibious Cross-Scale Objects Grasping, Soft Robotics (SoRo), 2025, 12(1): 145–155.
◆ Jingkun Yan; Zhenming Su; Xin Ma*; Long Jin*; An Obstacle Avoidance Scheme for Manipulators Aided by Noise-Tolerant Neural Dynamics, IEEE Transactions on Industrial Informatics (TII), 2025, 21(1): 703–712.
◆ Tianle Pan; Jing Shu; Huayu Zhang; Shuhao Xia; Jinfei Hu; Jianshu Zhou; Yunhui Liu; Xin Ma*; Single-Pump-Actuated Transformable Dual-Mode Gripper Based on Bistable and Origami Structures for Cross-Scale Object Grasping, Advanced Intelligent Systems (AIS), 2025, 2400651.
◆ Yi Yang; Xuchen Wang; Richard M. Voyles; Xin Ma*; A Predefined-Time Convergent and Noise-Tolerant Zeroing Neural Network Model for Time-Variant Quadratic Programming With Application to Robot Motion Planning, Tsinghua Science and Technology (TST), 2025, Accepted.
◆ Xuchen Wang; Shengzhi Wang; Yiying Liang; Jiajun An; Puchen Zhu; Weibing Li; Jianshu Zhou; Xin Ma*; Visual Exploration-Enhanced Quadruped Robot with Active-Passive Composite Telescope Mechanism, in Proceedings of the 2024 International Conference on Intelligent Robotics and Automatic Control (IRAC), 2024, pp. 198–202. (Best Paper Award)
◆ Puchen Zhu; Huayu Zhang; Xin Ma*; Xiaoyin Zheng; Xuchen Wang; Kwok Wai Samuel Au*; A CT-Guided Control Framework of a Robotic Flexible Endoscope for the Diagnosis of Maxillary Sinusitis, in Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
◆ Mei Liu; Renpeng Huang; Yi Yang; Xin Ma*; Cerebellum-Inspired Position and Orientation Control of Redundant Manipulators at Joint-Acceleration Level, IEEE Transactions on Industrial Electronics (TIE), 2024.
◆ Yi Yang; Xin Ma*; Haiyan H. Zhang; Richard M. Voyles; Stabilization for a Class of Partially Observable Uncertain Fractional-Order Nonlinear Systems With Time-Varying Delays and Disturbance, IEEE Transactions on Systems, Man, and Cybernetics: Systems (SMCS), 2024, 54(12): 7341–7355.
◆ Huayu Zhang; Jiajun An; Tianle Pan; Upinder Kaur; Zhijian Wang; Xuchen Wang; Qiguang He; Xin Ma*; Miniature Reconfigurable Modular Soft Robots Using Liquid Crystal Elastomer Actuation, in Proceedings of the 2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR), 2024, pp. 595–600. (Best Paper Finalist)
◆ Xuchen Wang; Xin Ma*; Puchen Zhu; Wee Shen Ng; Huayu Zhang; Xianfeng Xia; Russell H. Taylor; Kwok Wai Samuel Au; Design, Optimization, and Experimental Validation of a Handheld Nonconstant-Curvature Hybrid-Structure Robotic Instrument for Maxillary Sinus Surgery, IEEE/ASME Transactions on Mechatronics (T-MECH), 2024, 29(4): 3074–3082.
◆ Yi Yang; Puchen Zhu; Weibing Li; Richard M. Voyles; Xin Ma*; A Fractional-Order Gradient Neural Solution to Time-Variant Quadratic Programming With Application to Robot Motion Planning, IEEE Transactions on Industrial Electronics (TIE), 2024, 71(12): 16579–16589.
◆ Xin Ma*; Puchen Zhu; Xiao Li; Xiaoyin Zheng; Jianshu Zhou*; Xuchen Wang; Kwok Wai Samuel Au; A Minimal Set of Parameters-Based Depth-Dependent Distortion Model and Its Calibration Method for Stereo Vision Systems, IEEE Transactions on Instrumentation and Measurement (TIM), 2024, 73: 1–11.
◆ Jianshu Zhou; Junda Huang; Xin Ma*; Andy Lee; Kazuhiro Kosuge; Yun-Hui Liu*; Design, Modeling, and Control of Soft Syringes Enabling Two Pumping Modes for Pneumatic Robot Applications, IEEE/ASME Transactions on Mechatronics (T-MECH), 2024, 29(2): 889–901.
◆ Mei Liu; Kun Liu; Puchen Zhu; Guoqian Zhang; Xin Ma*; Mingsheng Shang*; Data-Driven Remote Center of Cyclic Motion (RC²M) Control for Redundant Robots With Rod-Shaped End-Effector, IEEE Transactions on Industrial Informatics (TII), 2024, 20(4): 6772–6780.
◆ Weibing Li; Yanying Zou; Xin Ma*; Binbin Qiu; Dongsheng Guo; Novel Neural Controllers for Kinematic Redundancy Resolution of Joint-Constrained Gough–Stewart Robot, IEEE Transactions on Industrial Informatics (TII), 2023, 20(3): 4559–4570.
◆ Jing Huang; Xiangyu Chu; Xin Ma; Kwok Wai Samuel Au; Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking, IEEE Transactions on Robotics (T-RO), 2023, 39(6): 4671–4690.
◆ Xin Ma; Xuchen Wang; Zihao Zhang; Puchen Zhu; Shing Shin Cheng; Kwok Wai Samuel Au; Design and Experimental Validation of a Novel Hybrid Continuum Robot With Enhanced Dexterity and Manipulability in Confined Space, IEEE/ASME Transactions on Mechatronics (T-MECH), 2023, 28(4): 1826–1835.
◆ Weibing Li; Cheng Guo; Xin Ma*; Yongping Pan; A Strictly Predefined-Time Convergent and Noise-Tolerant Neural Model for Solving Linear Equations With Robotic Applications, IEEE Transactions on Industrial Electronics (TIE), 2023, 71(1): 798–809.
◆ Xin Ma; Xuchen Wang; Rui Cao; Kwok Wai Samuel Au; Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery, in Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 5937–5944.
◆ Xuchen Wang; Junyan Yan; Xin Ma*; Jason Y. K. Chan; Russell H. Taylor; Shing Shin Cheng*; Kwok Wai Samuel Au; Hybrid-Structure Hand-Held Robotic Endoscope for Sinus Surgery With Enhanced Distal Dexterity, IEEE/ASME Transactions on Mechatronics (T-MECH), 2022, 27(4): 1863–1872.
◆ Jiajun An; Xin Ma*; Chun Ho David Lo; Weeshen Ng; Xiangyu Chu; Kwok Wai Samuel Au*; Design and Experimental Validation of a Monopod Robot With 3-DoF Morphable Inertial Tail for Somersault, IEEE/ASME Transactions on Mechatronics (T-MECH), 2022, 27(6): 5072–5083.
◆ Xin Ma; Chengzhi Song; Long Qian; Weixiao Liu; Philip Waiyan Chiu; Zheng Li; Augmented Reality-Assisted Autonomous View Adjustment of a 6-DOF Robotic Stereo Flexible Endoscope, IEEE Transactions on Medical Robotics and Bionics (T-MRB), 2022, 4(2): 356–367.
◆ Praveen Abbaraju; Xin Ma*; Guangying Jiang; Richard M. Voyles; Aerodynamic Modeling for Multirotor UAVs with Nonparallel Actuators, in Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
◆ Mythra V. Balakuntala; Upinder Kaur; Xin Ma*; Juan Wachs; Richard M. Voyles; Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering, in Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021.
◆ Xin Ma; Chengzhi Song; Philip Wai Yan Chiu; Zheng Li; Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System, IEEE Robotics and Automation Letters (RA-L), 2020, 5(2): 820–827.
◆ Xin Ma; Philip Wai Yan Chiu; Zheng Li; Shape Sensing of Flexible Manipulators Based on Statics Model and Bezier Curve, IEEE Sensors Journal, 2020, 10(21): 11684–11691.
◆ Xin Ma; Peng Wang; Minxin Ye; Philip Wai Yan Chiu; Zheng Li; Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical Tasks, IEEE Robotics and Automation Letters (RA-L), 2019, 3: 3106–3112.
◆ Xin Ma; Philip Wai Yan Chiu; Zheng Li; Shape Sensing of Flexible Manipulators with Visual Occlusion Based on Bezier Curve, IEEE Sensors Journal, 2018, 18(19): 6412–6422.
◆ Xin Ma; Philip Wai Yan Chiu; Zheng Li; Real-Time Deformation Sensing for Flexible Manipulators with Bending and Twisting, IEEE Sensors Journal, 2018, 18(15): 8133–8142.
◆ Xin Ma; Wei Liu; Ling Chen; Xiao Li; Zhenyuan Jia; Simulative technology for auxiliary fuel tank separation in a wind tunnel, Chinese Journal of Aeronautics (CJA), 2016, 29(3): 608–616.