游承澔 Cheng-Hao Yu
Cheng-Hao Yu is a PhD candidate in the OEMI Laboratory at National Taiwan University (NTU). He received his BSc degree in Mechanical Engineering with a specialisation in System Control and Mechatronics and a minor in Psychology. He joined the OEMI Laboratory as an undergraduate researcher and advanced directly into the PhD program in Biomedical Engineering at NTU, supported by the Ministry of Education’s Direct PhD Scholarship.
His research focuses on developing AI-driven approaches for motion capture, analysis, and synthesis to advance understanding of the neural and mechanical control of human locomotion. He has developed single-IMU methods for assessing walking speed and whole-body balance control during gait, enabling outdoor measurements and early community screening for physical and cognitive declines. He has also introduced physics-informed neural networks for motion capture and forceplate systems to improve the accessibility of clinical gait analysis, and has built a multi-centric federated learning framework for large-scale model training across institutions in a privacy-preserving manner. His current work involves generative gait modelling using large-scale gait datasets to further understand the neural and mechanical control of human locomotion.
He actively participates in academic conferences supported by grants from the National Science and Technology Council (NSTC) and the College of Medicine and has received several Best Oral Presentation Awards. He also serves as a reviewer for international SCI journals such as Gait & Posture, Journal of NeuroEngineering and Rehabilitation, and BMC Musculoskeletal Disorders.
Honors And Awards
- Best Paper Award, EBM Technologies Biomedical Engineering Research Scholarship, 2025
- Outstanding Oral Presentation Award, Annual Scientific Symposium of Taiwan Society of Biomechanics, 2025
- Conference Travel Grant, College of Medicine, National Taiwan University, 2025
- Conference Travel Grant, National Science and Technology Council, Taiwan, 2025
- Outstanding Oral Presentation Award, 2024 International Conference on Movement Science and Technology, 2024
- Outstanding Poster Award, 2024 International Conference on Movement Science and Technology, 2024
- Outstanding Oral Presentation Award, The 6th Global Conference on Biomedical Engineering, 2024
- Conference Travel Grant, National Science and Technology Council, Taiwan, 2023
- Outstanding Oral Presentation Award, Annual Scientific Symposium of Taiwan Society of Biomechanics, 2022
- Direct PhD Scholarship, Ministry of Education, Taiwan, 2022
- Undergraduate Research Fellowship, Ministry of Science and Technology, Taiwan, 2021
Journal Articles
[1] Yu, C. H., Lu, S. H., Lu, Y. F., Wu, K. W., Lu, Y. L., Wang, J. Y., Wang, T. M., & Lu, T. W. (2025). A Physics-Informed Deep Learning Approach to Predicting Bilateral Ground Reaction Forces and Centre of Pressure From a Single Forceplate During Gait. Gait & Posture, 122, 50-57. https://doi.org/10.1016/j.gaitpost.2025.07.005
[2] Lu, Y. L., Yu, C. H., Wang, T. M., & Lu, T. W. (2025). Immediate Effects of Monocular Vision Loss on Lower-Limb Joint and Endpoint Kinematics During Obstructed Gait. Gait & Posture, 122, 158-166. https://doi.org/10.1016/j.gaitpost.2025.07.315
[3] Yu, C. H., & Lu, T. W. (2025). Applications of Artificial Intelligence Technologies in Sports Training and Analysis. National Sports Quarterly, 221, 21-25. https://ws.sports.gov.tw/FS01/FilePath/1/relfile/415/9109/638775655836049897.pdf
[4] Lu, T. W., Lu, S. H., Yu, C. H., Wu, K. W., & Kuan, Y. C. (2024). A multi-objective optimal control approach to motor strategy changes in older people with mild cognitive impairment during obstacle crossing. Journal of NeuroEngineering and Rehabilitation, 21(1), 200. https://doi.org/10.1186/s12984-024-01483-x
[5] Yu, C. H., Yeh, C. C., Lu, Y. F., Lu, Y. L., Wang, T. M., Lin, F. Y. S., & Lu, T. W. (2023). Recurrent Neural Network Methods for Extracting Dynamic Balance Variables during Gait from a Single Inertial Measurement Unit. Sensors, 23(22), 9040. https://doi.org/10.3390/s23229040
[6] Wu, K. W., Yu, C. H., Huang, T. H., Lu, S. H., Tsai, Y. L., Wang, T. M., & Lu, T. W. (2023). Children with Duchenne muscular dystrophy display specific kinematic strategies during obstacle-crossing. Scientific Reports, 13(1), 17094. https://doi.org/10.1038/s41598-023-44270-9
Conference Abstracts
[1] Yu, C.H., Cheng, Y.Y., Lu, Y.F., Lu, S.H., Wang, T.M., & Lu, T.W. (2025, November). A federated learning model to monitor gait speed and dynamic balance in older adults using a single inertial sensor. In the 13th Asian-Pacific Conference on Biomechanics (AP-Biomech 2025), Auckland, New Zealand.
[2] Yu, C.H., Lu, S.H., Lu, Y.F., & Lu, T.W. (2025, November). A Physics-Informed Federated Learning Model for Predicting Bilateral Ground Reaction Forces and Centre of Pressure from a Single Forceplate During Gait. In the 2025 Annual Scientific Symposium of Taiwan Society of Biomechanics (TSB 2025), Kaohsiung, Taiwan.
[3] Cheng, Y.Y., Yu, C.H., Tsai, H.Y., Lu, S.H., Lu, Y.F., & Lu, T.W. (2025, November). Effects of Speed on Dynamic Balance Variables During Gait Using a Waist-Worn Inertial Sensor with Deep Learning Techniques. In the 2025 Annual Scientific Symposium of Taiwan Society of Biomechanics (TSB 2025), Kaohsiung, Taiwan.
[4] Zhang, W., Lin, T.L., Yu, C.H., Lin, J.H., Wang, T.M., & Lu, T.W. (2025, November). Effects of Speed on Dynamic Balance Variables During Gait Using a Waist-Worn Inertial Sensor with Deep Learning Techniques. In the 2025 Annual Scientific Symposium of Taiwan Society of Biomechanics (TSB 2025), Kaohsiung, Taiwan.
[5] Yu, C.H., Lu, S.H., Lu, Y.F., Wang, T.M., & Lu, T.W. (2025, July). A Physics-Informed Generative AI Model for Decomposing Ground Reaction Forces in Each Foot During the Double Support Phase of Gait. In the XXX Congress of the International Society of Biomechanics (ISB 2025), Stockholm, Sweden.
[6] Hu, C.H., Lu, S.H., Yu, C.H., Wang, J.Y., Wu, K.W., Wang, T.M., & Lu, T.W. (2025, July). Control of the Body's Center of Mass Motion Relative to the Center of Pressure During Uphill Walking in the Anterior Cruciate Ligament Injured Copers. In the XXX Congress of the International Society of Biomechanics (ISB 2025), Stockholm, Sweden.
[7] Yu, C.H., Cheng, Y.Y., Tsai, H.Y., Lu, S.H., Lu, Y.F., Wang, T.M., & Lu, T.W. (2025, July). A Federated Learning Model for Monitoring Dynamic Gait Balance Using a Single IMU. In the 30th Congress of the European Society of Biomechanics (ESBiomech 2025), Zürich, Switzerland.
[8] Lu, Y.F., Yu, C.H., Chen, H.L., Lin, F.Y.S., & Lu, T.W. (2025, July). Eye-Hand Kinematic Coordination During Cognitive Tasks Using AI and Mobile Device Stereophotography. In the 30th Congress of the European Society of Biomechanics (ESBiomech 2025), Zürich, Switzerland.
[9] Kuan, Y.C., Lu, S.H., Yu, C.H., & Lu, T.W. (2025, July). Postural Adjustments During Standing and Gait as Early Biomarkers for Amnestic Mild Cognitive Impairment. In the 30th Congress of the European Society of Biomechanics (ESBiomech 2025), Zürich, Switzerland.
[10] Yu, C.H., Hu, C.H., Lu, S.H., Cheng, Y.Y., Lu, Y.F., Kuan, Y.C., & Lu, T.W. (2025, June). An AI-Driven Wearable Approach to Monitor Speed and Dynamic Balance During Dual-Task Walking for Early Detection of Mild Cognitive Impairment in Community-Dwelling Elderly. In the International Society for Posture & Gait Research World Congress 2025 (ISPGR 2025), Maastricht, Nederland.
[11] Lu, Y.F., Yu, C.H., Lu, S.H., Wang, T.M., Chen, K.T., & Lu, T.W. (2025, June). A Physics-Informed Federated Learning Model to Decompose Bilateral Ground Reaction Forces and Centre of Pressure from a Single Forceplate for Gait Analysis. In the International Society for Posture & Gait Research World Congress 2025 (ISPGR 2025), Maastricht, Nederland.
[12] Yu, C.H., Cheng, Y.Y., Tsai, H.Y., Lu, S.H., Lu, Y.F., & Lu, T.W. (2025, May). Prolonged Monitoring of Speed and Balance Control During Gait Using an IMU with Deep-Learning Techniques. In 2025 American College of Sports Medicine Annual Meeting (ACSM 2025), Atlanta, USA. https://doi.org/10.1249/01.mss.0001154952.68732.71
[13] Hu, C.H., Yu, C.H., Lu, S.H., Wang, J.Y., Wu, K.W., Wang, T.M., & Lu, T.W. (2025, May). Lateral-Wedge Insoles Reduced Joint Loading Rates in Patients with Anterior Cruciate Ligament Deficiency During Walking. In 2025 American College of Sports Medicine Annual Meeting (ACSM 2025), Atlanta, USA. https://doi.org/10.1249/01.mss.0001156196.47782.13
[14] Shih, K.S., Yu, C.H., Liu, Y.K., Lai, C.Y., & Lu, T.W. (2025, May). Direct Measurement of Knee Ligament Forces During Cycling Using Robotic Systems with AI-Predicted Joint Kinematics. In 2025 American College of Sports Medicine Annual Meeting (ACSM 2025), Atlanta, USA. https://doi.org/10.1249/01.mss.0001155092.37002.03
[15] Yu, C.H., Lu, S.H., Lu, Y.F., & Lu, T.W. (2024, November). Three-Dimensional Decomposition of Ground Reaction Forces and Moments During Gait Using Generative Artificial Intelligence with Physics Constraints. In the 2024 International Conference on Movement Science and Technology (ICMST 2024), Taipei, Taiwan. (Outstanding Oral Presentation Award)
[16] Yu, C.H., Cheng, Y.Y., Yeh, C.C., Tsai, H.Y., Lu, Y.F., Sun, T.L., Lin, F.Y.S., & Lu, T.W. (2024, November). Development of AI-Based Wearable Systems via Federated Learning to Monitor Dynamic Balance During Gait Using a Single Waist-Worn IMU. In the 2024 International Conference on Movement Science and Technology (ICMST 2024), Taipei, Taiwan.
[17] Hu, C.H., Yu, C.H., Kuan, Y.C., Lu, S.H., Lu, Y.F., & Lu, T.W. (2024, November). A Single-IMU-Based Transformer Model for Early Detection of Mild Cognitive Impairment in Older Adults Using Dual-Task Walking Data. In the 2024 International Conference on Movement Science and Technology (ICMST 2024), Taipei, Taiwan.
[18] Hsieh, H.C., Yu, C.H., Chen, Y.C., Shiue, S.H., & Lu, T.W. (2024, November). Three-Dimensional Reconstruction of Personalised Lower Limb Skeletal Models from Body Surface Data Using Statistical Shape Modelling with Joint Constraints. In the 2024 International Conference on Movement Science and Technology (ICMST 2024), Taipei, Taiwan. (Outstanding Poster Award)
[19] Yu, C.H., Lu, S.H., Huang, T.H., & Lu, T.W. (2024, November). Maturation of Trade-off Strategies Between Mechanical Energy Expenditure and Foot Clearances for Obstacle Negotiation. In the 6th Global Conference on Biomedical Engineering (GCBME 2024), Tainan, Taiwan. (Outstanding Oral Presentation Award)
[20] Liu, N. Y., Erpenback, P. M. R., Arriagada, S. O., Su, P. H., Tuan, P. A., Yu, C. H., & Chang, B. S. (2024, August). A Rigid-Soft Switchable Lower Body Exosuit for Lifting. In the 2024 International Conference on Advanced Robotics and Intelligent Systems (ARIS 2024), Taipei, Taiwan. https://doi.org/10.1109/ARIS62416.2024.10679962
[21] Yu, C.H., Lu, Y.F., Lu, S.H., Hu, C.H., Lin, Y.S.F., Shih, K.S., Lin, C.C., FACSM, & Lu, T.W. (2024, May). A New Approach For Monitoring Gait Balance Control Stability Using An IMU With Deep-Learning Techniques. In 2024 American College of Sports Medicine Annual Meeting (ACSM 2024), Boston, USA. https://doi.org/10.1249/01.mss.0001060536.57068.63
[22] Hu, C.H., Yu, C.H., Lin, K.C., Lee, J.R., Lu, Y.F., Lu, S.H., Kuan, Y.C. & Lu, T.W. (2024, May). A RNN Method for Detecting Mild Cognitive Impairment Using Gait Data From a Single Waist-Worn IMU. In 2024 American College of Sports Medicine Annual Meeting (ACSM 2024), Boston, USA. https://doi.org/10.1249/01.mss.0001052488.58767.0d
[23] Shih, K.S., Chen, C.Y., Yu, C.H., Hu, C.H., Li, L., & Lu, T.W. (2024, May). Cadaveric Ankle Ligament Strains During Robot-Driven Stair-Climbing With In Vivo Data-Trained AI Models. In 2024 American College of Sports Medicine Annual Meeting (ACSM 2024), Boston, USA. https://doi.org/10.1249/01.mss.0001060624.88560.bd
[24] Yu, C.H., Yeh, C.C., Lu, Y.F., Lin, F.Y.S., Chien, A., Kuo, M.Y., & Lu, T.W. (2023, November). Comparison of Recurrent Neural Network Algorithms for Estimating the Body’s Centre of Mass Motion Relative to the Centre of Pressure During Gait Using A Single Waist-Worn IMU. In the 12th Asian-Pacific Conference on Biomechanics (AP-Biomech 2023), Kuala Lumpur, Malaysia.
[25] Chung, C.T., Yu, C.H., Lu, S.H., & Lu, T.W. (2023, November). Coordination Stability on the Body’s Centre of Mass Motion Relative to the Centre of Pressure during Walking: from Toddlerhood to Adulthood. In the 12th Asian-Pacific Conference on Biomechanics (AP-Biomech 2023), Kuala Lumpur, Malaysia.
[26] Tiong, J.Y., Wu, Y.C., Yu, C.H., Lu, Y.L., Wu, K.W., Wang, T.M., & Lu, T.W. (2023, November). Anticipatory Whole-Body Balance Control in the Elderly for Crossing Obstacles of Different Heights. In the 12th Asian-Pacific Conference on Biomechanics (AP-Biomech 2023), Kuala Lumpur, Malaysia.
[27] Yu, C.H., Huang, T.H., Lu, S.H., Lu, H.Y., Hu, C.H., Wu, K.W., Wang, T.M., & Lu, T.W. (2023, July). Control Strategy of the Locomotor System for Obstacle-Crossing in Adolescents with Severe Idiopathic Thoracic Scoliosis: Trade-offs Between Mechanical Energy Expenditure and Foot Clearance. In the XXIX Congress of the International Society of Biomechanics (ISB 2023), Fukuoka, Japan.
[28] Yeh, C.C., Yu, C.H., Lu, Y.F., Lin, F.Y.S., & Lu, T.W. (2023, July). A Hybrid LSTM-ANN Model for Predicting Balance Variables and Spatiotemporal Parameters During Gait Using A Single Waist-Worn IMU. In the XXIX Congress of the International Society of Biomechanics (ISB 2023), Fukuoka, Japan.
[29] Tiong, J.Y., Lu, Y.L., Yu, C.H., Tsai, Y.L., Wu, K.W., Wang, T.M., & Lu, T.W. (2023, July). Effects of Eye Dominance on Whole-Body Balance Control During Level Walking in The Elderly. In the XXIX Congress of the International Society of Biomechanics (ISB 2023), Fukuoka, Japan.
[30] Lin, S.J., Tsai, Y.L., Lu, S.H., Yu, C.H., Chen, T.Y., Wu, K.W., Wang, T.M., & Lu, T.W. (2023, July). A Bi-Planar Inverted Pendulum Model for Evaluating the Dynamic Stability in Patients with Duchenne Muscular Dystrophy During Level Walking. In the XXIX Congress of the International Society of Biomechanics (ISB 2023), Fukuoka, Japan.
[31] Hu, C.H., Lu, S.H., Chen, T.Y., Yu, C.H., & Lu, T.W. (2023, July). Assessment of Strain Components for Kinesiology Taping Techniques with Digital Image Correlation. In the XXIX Congress of the International Society of Biomechanics (ISB 2023), Fukuoka, Japan.
[32] Yeh, C.C., Yu, C.H., Lu, Y.F., Lin, F.Y.S., Chien, A., & Lu, T.W. (2023, July). Age Effects on Patterns and Variability of COM-to-COP Inter-Plane Coordination During Gait Using A Waist-Worn IMU with Machine Learning Techniques. In the International Society for Posture & Gait Research World Congress 2023 (ISPGR 2023), Brisbane, Australia.
[33] Yu, C.H., Huang, T.H., Lu, S.H., & Lu, T.W. (2022, December). Anticipatory Postural Adjustments Strategy in Adolescents for Crossing Obstacles of Different Heights. In the 5th Global Conference on Biomedical Engineering (GCBME 2022), Taipei, Taiwan.
[34] Yu, C.H., Huang, T.H., Lu, S.H., Lu, H.Y., & Lu, T.W. (2022, October). Maturity of Minimum Energy Expenditure Strategy During Level Walking. In the 2022 Annual Scientific Symposium of Taiwan Society of Biomechanics (TSB 2022), Kaohsiung, Taiwan. (Outstanding Oral Presentation Award)
[35] Yu, C.H., Huang, T.H., Tsai, Y.L., Lu, S.H., Wu, K.W., & Lu, T.W. (2022, July). Multi-Objective Optimal Control Strategies of the Lower Limbs in Duchenne Muscular Dystrophy During Obstacle-Crossing. In the 9th World Congress of Biomechanics (WCB 2022), Taipei, Taiwan.