Has there been a human-electric hybrid aircraft after this. A more streamlined design; maybe capable of soaring as well...
Yes. I assume by hybrid you mean that propulsion is provided by a solar-powered electric motor while the control system is powered by a human pilot.
From Paul McCready came Solar Challenger in 1981, certainly less flimsy than the Gossamer Penguin.
Solar Challenger (picture source)
Solair II (picture source)
Rochelt's Musculair 2, the fastest human powered aircraft until today, inspired Eric Raymond to build Sunseeker in 1990. Sunseeker II improved on those designs again, still using the layout pioneered by Musculair 2. It flew first in 2002.
Sunseeker (picture source)
Icaré 2 was based on glider technology and flew first in 1996.
With Sunseeker Duo the first solar-powered two seater flew in 2014.