张玉茹 教授 博士生导师
yuru@buaa.edu.cn 
学历学士，1982，大连理工大学
硕士，1984, 博士，1987，北京航空航天大学， 师从张启先院士。 教育部 “跨世纪优秀人才”，航空工业总公司“做出突出贡献的中国博士学位获得者”, 北京市高校青年学科带头人，北京市优秀青年骨干教师。曾任虚拟现实技术与系统国家重点实验室副主任、北京航空航天大学机械学院副院长、机器人研究所副所长。 |
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工作简历讲师, 北京航空航天大学机器人研究所, 1987-89 副教授, 北京航空航天大学机器人研究所, 1990-96 教授, 北京航空航天大学机器人研究所, 1997-今 北京航空航天大学机器人研究所副所长, 1997-2002 北京航空航天大学必赢626net入口副院长, 2003-2007 虚拟现实技术与系统国家重点实验室副主任，2010-2018 美国普渡大学高级访问学者, 2011.3-2011.9 法国INRIA访问教授，2012.7 研究方向 主要研究领域为机器触觉、人机交互、手术机器人、虚拟现实手术仿真 学会组织任职 IEEE Robotics and Automation Letters期刊副编 Springer 专辑Touch and Haptic Systems编委会委员 《机器人》期刊编委 教育部教学指导委员会委员(2006-2018) IEEE高级会员
ASME会员 IFToMM中国委员会委员
获奖 1. 虚拟手术关键技术及应用，中国电子学会科学技术一等奖，2020 2. 虚实融合关键技术及应用，教育部技术发明一等奖，2014 3. 虚实融合关键技术及应用，高等学校科学研究优秀成果奖技术发明一等奖，2013 4. 远程无框架脑外科机器人系统，国家科学技术进步二等奖，2008 |
专著
1. 王党校、张玉茹，《触力觉人机交互导论》，人民邮电出版社，2022
2. D. Wang, J. Xiao, and Y. Zhang, Haptic rendering for fine manipulation, Springer, 2014, ISBN 978-3-662-44949-3，
http://www.springer.com/computer/hci/book/978-3-662-44948-6
3. 李继婷、张玉茹、李剑峰《现代机构学进展》，第二卷，第5章，高等教育出版社，2011，ISBN 978-04-033470-8
4. 张玉茹、李继婷、李剑峰，《机器人灵巧手：建模、规划与仿真》，机械工业出版社，2007
大会报告（Keynote）
1. Touching the Digital World, IEEE HAVE2018, Dalian, China
2. iDental: A Simulator for Dental Skill Training，IEEE ICRA2015, Seattle, USA
3. Keynote, “Simulation in a tangible virtual world: haptic interface and its application in a dental simulator”, BioMouth, University of Auckland, New Zealand, 2012
最佳论文和提名
1. Jian Song, Yuru Zhang, Hongdong Zhang, and Dangxiao Wang,Co-actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device, EuroHaptics 2016, Part I, LNCS 9774, pp. 229–239, 2016, Springer International Publishing Switzerland 2016, Finalist of Best Paper Award
2. Dangxiao Wang，Xin Zhang，Yuru Zhang, and Jing Xiao, Configuration-based optimization for six degree-of-freedom haptic rendering for fine manipulation, 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China, pp.906-912, Finalist of Best Paper Award
3. Liu, JC; Zhang, Y; Li, Z, Proving the positioning accuracy of a neurosurgical robot system, IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, AUG 13-16, 2006, Best student paper
发明专利
美国专利Force Feedback Handle Device with a Degree-of-Freedom and Working Method Thereof, US10394271B2, WO:15/587288, August 27, 2019
代表性论文
n 期刊论文
1. Y. Guo, Q. Tong, X. Liu, X. Bian, Z. Zhang, Y. Zhang, W. Xu and D. Wang, MRS-Tex: A Magnetically Responsive Soft Tactile Device for Texture Display, IEEE Transactions on Industrial Electronics, 2021.
2. Y. Guo, X. Yang, H. Wang, Y. Zhang, W. Xu, and D. Wang, Five-Fingered Passive Force Feedback Glove Using a Variable Ratio Lever Mechanism. Actuators, 2021, VOL. 10, NO. 5.
3. Y. Zheng, B. Tian, Y. Zhang, and D. Wang, Effect of Force Accuracy on Hemodynamic Response: An fNIRS Study Using Fine Visuomotor Task. Journal of Neural Engineering. 2021.18(5).
4. Cong Peng, Weiwei Peng, Wanwei Feng, Yuru Zhang, Jing Xiao and Dangxiao Wang. EEG Correlates of Sustained Attention Variability during Discrete Multi-finger Force Control Tasks. IEEE Transactions on Haptics, VOL. 14, NO. 3, JULY-SEPTEMBER 2021, pp. 526-537
5. Ruihang Chu, Yuru Zhang, Hongdong Zhang, Weiliang Xu, Jee-Hwan Ryu, and Dangxiao WANG. Co-actuation: A Method for Achieving High Stiffness and Low Inertia for Haptic Devices. IEEE Transactions on Haptics.vol. 13, no. 2, pp. 312-324, 1 April-June 2020.
6. Z. Wang, D. Wang, Y. Zhang, J. Liu, L.Wen, W. Xu, and Y. Zhang. A Three-Fingered Force Feedback Glove using Fiber reinforced Soft Bending Actuators. IEEE Transactions on Industrial Electronics, vol. 67, no. 9, pp. 7681-7690, Sept. 2020.
7. Xingwei Guo, Yuru Zhang, Wenxuan Wei, Weiliang Xu, Dangxiao Wang. Effect of Temperature on the Absolute and Discrimination Thresholds of Voltage on Electrovibration Tactile Display. IEEE Transactions on Haptics, vol. 13, no. 3, pp. 578-587, 1 July-Sept. 2020.
8. Xiaohan Zhao, Zhuoli Zhu, Yu Cong, Yongtao Zhao, Yuru Zhang and Dangxiao Wang. Haptic Rendering of Diverse Tool-Tissue Contact Constraints During Dental Implantation Procedures. Frontiers in Robotics and AI, 20 March 2020.
9. Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu, Jian Jiao, and Weiliang Xu. The Effect of Applied Normal Force on the Electrovibration. IEEE Transactions on Haptics, pp. 1-1, 2019.
10. Yilei Zheng, Dangxiao Wang, Yuru Zhang, and Weiliang Xu. Detecting Mind Wandering: An Objective Method via Simultaneous Control of Respiration and Fingertip Pressure. Frontiers in Psychology. 05 February 2019.
11. Cong Peng, Dangxiao Wang, Yuru Zhang, and Jing Xiao. A Visuo-haptic Attention Training Game with Dynamic Adjustment of Difficulty. IEEE Access, vol. 7, pp. 68878-68891, 2019.
12. Cong Peng, Dangxiao Wang, and Yuru Zhang. Quantifying Differences among Ten Fingers in Force Control Capabilities by a Modified Meyer Model. Symmetry, 2019, 11(9):1-18.
13. Yu Zhang, Dangxiao Wang, Ziqi Wang, Yuru Zhang, and Jing Xiao. Passive Force-Feedback Gloves with Joint-Based Variable Impedance Using Layer Jamming. IEEE Transactions on Haptics, Vol. 12, No. 03, pp. 269-280, July-September 2019.
14. Dangxiao WANG, Teng LI, Naqash AFZAL, Jicong ZHANG, and Yuru ZHANG. Haptics-mediated approaches for enhancing sustained attention: framework and challenges. SCIENCE CHINA Information Sciences, November 2019, Vol. 62 211101:1–211101:26.
15. Y. Zheng, D. Wang, Y. Zhang, Y. Tang. Enhancing attention by synchronizing respiration and fingertip pressure: a pilot study using functional near infrared spectroscopy. Frontiers in Neuroscience, Vol.13, November 2019
16. D. Wang, Y. Guo, S. Liu, Y. Zhang, W. Xu, J. Xiao. Haptic display for virtual reality: progress and challenges. Virtual Reality & Intelligent Hardware, 2019, 1(2): 136-162
17. Jian Jiao, Dangxiao Wang, Yuru Zhang, Dekun Cao, Yon Visell, Xingwei Guo, and Xiaoying Sun. Detection and Discrimination Thresholds for Haptic Gratings on Electrostatic Tactile Displays. IEEE Transactions on Haptics, vol. 12, No. 1, pp.34-42, 2019.
18. Dangxiao Wang, Meng Song, Afzal Naqash, Yukai Zheng, Weiliang Xu, and Yuru Zhang. Toward Whole-Hand Kinesthetic Feedback: A Survey of Force Feedback Gloves[J]. IEEE Transactions on Haptics, vol. 12, No. 2, pp. 189-204, April-June 2019.
19. Lingzhi Liu, Yuru Zhang, Guanyang Liu, Peter Xu，Variable Motion Mapping to Enhance Stiffness Discrimination and Identification in Robot Hand Teleoperation, Robotics and Computer-Integrated Manufacturing，51 (2018) 202–208
20. T. Li, D. Wang, C. Peng, C. Yu, and Y. Zhang, “Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback,” Int. J. Human Computer Studies, vol. 110, pp. 33–44, Oct. 2018.
21. D Wang， C Peng， N Afzal， W Li， D Wu，Yuru Zhang,“Localization Performance of Multiple Vibrotactile Cues on Both Arms”，IEEE Transactions on Haptics，11, Issue:1，JANUARY-MARCH 2018，pp.97-106
22. S. Zhang, D. Wang, N. Afzal, Y. Zhang, R. Wu, Rhythmic Haptic Stimuli Improve Short-term Attention, IEEE Transactions on Haptics, 2017,9 (3):437-442
23. Wang, Dangxiao; Li, Teng; Yang, Gaofeng; Zhang, Yuru, Effects of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation, IEEE Transactions on Haptics，Volume: 10, Issue:3, JULY-SEPTEMBER 2017, Page(s): 350-357
24. Dangxiao Wang, Xiaohan Zhao, Youjiao Shi, Yuru Zhang, Jing Xiao，Six Degree-of-Freedom Haptic Simulation of a Stringed Musical Instrument for Triggering Sound, IEEE Transactions on Haptics, 2017, PP (99) :1-1
25. T Li，D Wang，C Peng，C Yu，Y Zhang，Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback，International Journal of Human-Computer Studies， vol. 110, pp. 33–44, Oct. 2017.
26. G. Liu, X. Sun, D. Wang, Y. Liu, and Y. Zhang, Effect of Electrostatic Tactile Feedback on Accuracy and Efficiency of Pan Gestures on Touch Screens, IEEE Transactions on Haptics, 2017
27. D. Wang, X. Zhao, Y. Shi, Y. Zhang and J. Xiao, Six Degree-of-Freedom Haptic Simulation of Probing Dental Caries within a Narrow Oral Cavity, IEEE Transactions on Haptics, 2016, 9(2):279-291
28. D. Wang, J. Jiao, G. Yang, Y. Zhang, Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback, IEEE Transactions on Haptics, VOL. 9, NO. 3, JULY-SEPTEMBER 2016
29. F. Yuan, Y. Wang, Y. Zhang, Y. Sun, D. Wang, P. Lyu, An automatic tooth preparation technique: A preliminary study, Scientific Reports, 2016, 6:2528
30. D. Wang, T. Li, Y. Zhang, J. Hou, Survey on Multi-sensory Feedback Virtual Reality Dental Training Systems, European Journal of Dental Education, 2016, 20 (4) :248
31. G. Yu D. Wang, Y. Zhang, and J. Xiao, Simulating sharp geometric features in six degrees-of-freedom haptic rendering, IEEE Transactions on Haptics, Vol. 8, No. 1, 2015, pp. 67-78
32. Dangxiao Wang, Siming Zhao, Teng Li, Yuru Zhang, Xiaoyan Wang. Preliminary evaluation of a virtual reality dental simulation system on drilling operation. Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. 747-756, 2015.
33. Yi Yang, Betty Lemaire-Semail, Frédéric Giraud, Michel Amberg, Yuru Zhang and Christophe Giraud-Audine, Power Analysis for the Design of a Large Area Ultrasonic Tactile Touch Panel, European Journal of Applied Physics, Vol. 72, No. 1, October 2015
34. Liu G, Wang Y, Zhang Y, et al. Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks[J]. Journal of Mechanical Science & Technology, 2015, 29(6):2487-2499.
35. D. Wang, Y. Zhang, X. Yang, G. Yang, and Y. Yang, Force Control Tasks with Pure Haptic Feedback Promote Short-Term Focused Attention, IEEE Transactions on Haptics, Vol. 7, No. 4, 2014, pp. 467-476
36. D. Wang, Y. Shi, S. Liu, Y. Zhang and J. Xiao, Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations, IEEE Transaction on Haptics, Vol. 7, No. 1, 2014, pp. 48-60
37. D. Wang, C. Yang, Y. Zhang and J. Xiao, Towards in-vivo force and motion measurement for vascular surgery, IEEE Transactions on Instrumentation and Measurement, Vol. 63, No. 8, 2014, pp.1975 - 1982
38. D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE Transaction on Haptics, 6 (2), 167-180，2013
39. D. Wang, J. Guo, C. Sun, M. Xu, and Y. Zhang, A Flexible Concept for Designing Multi-Axis Force/Torque Sensors using Force Closure Theorem, IEEE Transactions on Instrumentation and Measurement, Accepted
40. Dangxiao Wang, Yuru Zhang, Jianxia Hou, Yong Wang, Peijun Lv, Yonggang Chen Hui Zhao, iDental: A haptic-based dental simulator and its preliminary evaluation, IEEE Transaction on Haptics, Volume: 5, Issue: 4, Oct. –Dec. 2012, pp. 332-343
41. LI Jiting; WANG Shuang; WANG Ju; ZHENG Ruoyin; ZHANG Yuru; CHEN Zhongyuan, Development of a Hand Exoskeleton System for Index Finger Rehabilitation, Chinese Journal of Mechanical Engineering. Vol.25, No.2, March 2012, 223-233.
42. Chao Chen,Guanyang Liu, Yuru Zhang, Yan Wang,Deployment Mechanism Design with Behavioral Modeling Based on Pro/Engineer Motion Skeleton. Applied Mechanics and Materials, v 163, p 242-246, 2012.
43. Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics， Vol. 4, No. 4, Oct. –Dec., 2011, pp. 321-326
44. Dangxiao WANG, Yuru ZHANG, Chong YAO, Jun WU, Huimin JIAO and Muli LIU, “Toward force-based signature verification: a pen-type sensor and preliminary validation,” IEEE Transactions on Instrumentation and Measurement, Volume 59, Number 4, April 2010, pp: 752-762
45. Dangxiao Wang, Yuru Zhang, Jun Wu, “A hierarchical model of motor skill for haptic-assisted virtual reality training,” The International Journal of Virtual Reality, 2010, 9(3):75-81
46. Jun Wu, Dangxiao Wang, Charlie C.L. Wang, and Yuru Zhang. “Toward stable and realistic haptic interaction for tooth preparation simulation,” ASME Transactions - Journal of Computing and Information Science in Engineering, vol.10, no.2, June 2010
47. Jun Wu, Yuen-Shan Leung, Charlie C.L. Wang, Dangxiao Wang, and Yuru Zhang, “Smooth force rendering on coarse polygonal meshes,” Computer Animation and Virtual Worlds, Special Issue of 23rd International Conference on Computer Animation and Social Agents, Saint-Malo, France, May 31 - June 2, 2010, vo.21, no.3-4, pp.235-244
48. DangXiao Wang , YuRu Zhang, Yong Wang, PeiJun Lü, RenGe Zhou and WanLin Zhou, “Haptic rendering for dental training system,” Science in China Series F: Information Sciences, Volume 52, Number 3, MAR 2009, pp: 529-546 (王党校，张玉茹等,面向牙科手术培训的力觉合成技术, 中国科学[F]，2009年第39卷第1期：159~174)
49. Guanyang Liu,Yuru Zhang, Dangxiao Wang, Townsend, “Stable haptic interaction using a damping model to implement a realistic tooth-cutting simulation for dental training,” Springer Virtual Reality Journal , Springer London 2008.3
50. Guanyang Liu,Yuru Zhang,Townsend, Force Modelling for Tooth Preparation in Dental Training System ,Virtual Reality[J],Springer London 2008.6
51. Liu, Junchuan; Zhang, Yuru; Li, Zhen, Improving the positioning accuracy of a neurosurgical robot system, IEEE/ASME Transactions on Mechatronics, v 12, n 5, October 2007, p 527-533
52. D. Wang, Y. Zhang et al., “Strokes-based modeling and haptic skill display for Chinese calligraphy simulation system,” Springer Virtual Reality Journal, (2006) 9: 118-132
53. D. Wang, Y. Zhang et al., “Cutting on Triangle Mesh Local Model based haptic display for dental preparation surgery simulation,” IEEE Transaction on Visualization and Computer Graphics, No. 6, 2005, p671-683
54. Yuru Zhang and W. A. Gruver, Jiting Li and Qixian Zhang, "Classification of Grasps," IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 31, No. 3, 2001, 436-444
55. Yuru Zhang and William A. Gruver, “A Method for Simplifying Dynamics of Manipulators with Closed Chains”, Robotics and Autonomous Systems, Vol. 28, No. 4, 1999, 261-269
n 会议论文
1. X. Guo, Y. Zhang, W. Wei, W. Xu, and D. Wang ThermalTex: A two-modal tactile display for delivering surface texture and thermal information EuroHaptics Conference 2020, Leiden, The Netherlands, September 6–9, 2020.
2. Yuan Guo, Dangxiao Wang, Ziqi Wang, Xiuping Yang, Haitong Wang, Yuru Zhang, Weiliang Xu. Achieving High Stiffness Range of Force Feedback Gloves using Variable Stiffness Mechanism. presented at the 2019 IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.
3. Yilei Zheng, Dangxiao Wang, Lijun Wang, et al. Monitoring Neural Activity during Motion-Force Control Task Using Functional Near-Infrared Spectroscopy. IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.
4. Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun. HapTex: A Database of Fabric Textures for Surface Tactile Display. IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.
5. Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu, Jian Jiao and Weiliang Xu, Correlation Between Electrovibration Perception Magnitude and the Normal Force Applied by Finger，EuroHaptics 2018, LNCS 10893, pp. 91–101, 2018
6. J. Song, Y. Zhang, H. Zhang, and D. Wang, “Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors,” Haptics Symposium, 2018.
7. H. Zhang, Y. Zhang, D. Wang and L. Lu, “DentalTouch: A Haptic Display with High Stiffness and Low Inertia,” in Proceedings of World Haptics, Munich, Germany, 2017, pp. 388-393.
8. Pengzhi Zhang, Dangxiao Wang, Yuru Zhang,Analysis of Correlation Between Image Texture and Friction Coefficient of Materials, IEEE Intl Conf on Image Systems and Techniques, Beijing, Oct.18-20, 2017, 352-357
9. Jian Song, Yuru Zhang, Hongdong Zhang, and Dangxiao Wang,Co-actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device, EuroHaptics 2016, Part I, LNCS 9774, pp. 229–239, 2016, Springer International Publishing Switzerland 2016, Finalist of Best Paper Award
10. Yang Xiaoxiao; Wang Dangxiao; Zhang Yuru，An Adaptive Strategy for an Immersive Visuo-Haptic Attention Training Game，EuroHaptics 2016
11. Naqash Afzal; Wang Dangxiao; Amine Serir; Zhang Yuru，Design and Evaluation of a Haptic Watch Using Vibrotactile Cues，EuroHaptics 2016
12. T. Li, Dangxiao Wang, S. Zhang, Y. Zhang, and C. Yu, Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip Force,IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.
13. M. Xu, Dangxiao Wang, Y. Zhang, J. Song and D, Wu, Performance of simultaneous motion and respiration control under guidance of audio-haptic cues, IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.
14. D. Wang, H. Tong, Y. Shi, Y. Zhang, Interactive haptic simulation of tooth extraction by a constraint-based haptic rendering approach, IEEE International Conference on Robotics and Automation, ICRA 2015, May 26 – May. 31, 2015, Seattle, US
15. L. Ma, Dangxiao Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing, IEEE International Conference on Robotics and Automation, ICRA 2014, May 31 – Jun. 07, 2014, Hong Kong, China
16. L. Ma, Dangxiao Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing, IEEE International Conference on Robotics and Automation, ICRA 2014, May 31 – Jun. 07, 2014, Hong Kong, China
17. G. Yu,Dangxiao Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). Tokyo, Japan, Nov. 03-08, 2013
18. L. Wang, Dangxiao Wang, L. Ma, Y. Zhang, F. Yuan, Y. Sun, Preliminary experiments of a miniature robotic system for tooth ablation using ultra-short pulsed lasers, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). Tokyo, Japan, Nov. 03-08, 2013
19. D. Wang，C. Yang, Y. Zhang, J. Xiao, Y. Dong, T. Wang, A novel design of a wearable device for measuring force and torque in vascular surgery, IEEE International Conference on Robotics and Automation, ICRA 2013, May 6 - 10, 2013, Karlsruhe, Germany
20. D. Wang, M. Xu, Y. Zhang, J. Xiao, Preliminary study on haptics-stimulation based brainwave entrainment, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, April 14~17, 2013, Daejeon, Korea
21. D. Wang, Y. Shi, S. Liu, Y. Zhang, J. Xiao, The influence of master-slave mapping uncertainty on force/torque fidelity of 6-DOF haptic rendering, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium， April 14~17, 2013, Daejeon, Korea.
22. D. Wang, S. Liu, J. Xiao, J. Hou, Y. Zhang. Six Degree-of-Freedom Haptic Simulation of Pathological Changes in Periodontal Operations. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012). Vilamoura, Algarve, Portugal October 7-12, 2012.
23. G. Yu, D. Wang, Y. Zhang, X. Zhang, Six Degree-of-Freedom Haptic Simulation of Sharp Geometric Features using a Hybrid Sphere-tree Model, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Vilamoura, Algarve, Portugal October 7-12, 2012.
24. Yu Zou, Yuru Zhang, Yaojun Zhang. On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry. Proceedings of ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. 2012, Chicago, IL, USA
25. D. Wang, C. Yang, J. Shi, Y. Zhang. A portable in-vivo device of friction force and torque measurement for vascular surgery, IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS), July 2-4, 2012, Tianjin, China, pp. 190 – 195.
26. Z. Chen, Y. Zhang, D. Wang, et al. iFeel6-BH1500: a Large Scale 6-DOF Haptic Device. IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS), July 2-4, 2012, Tianjin, China, pp. 121 – 125.
27. D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Six-degree-of-freedom Haptic Simulation of Organ Deformation in Dental Operations, IEEE International Conference on Robotics and Automation, ICRA 2012, May 14-18, 2012, St. Paul, Minnesota, USA, pp. 1050-1056.
28. Yu Zou and Yuru Zhang. Wrench Capability Analysis of Cable-driven Parallel Mechanisms. ASME 2011 International Design Engineering Technical Conference (IDETC), Washington, DC, USA
29. Yi Yang; Yuru Zhang; Zhu Hou; ZhongYuan Chen; Lemaire-Semail, B. FingViewer: A new multi-touch force feedback touch screen, Consumer Electronics (ICCE), 2011 IEEE International Conference on, pp.837-838, 9-12 Jan. 2011
30. Yi Yang, Yuru Zhang, Zhu Hou, Betty Lemair-Semail, Adding Haptic Feedback to Touch Screens at the Right Time, the 2011 International Conference on Multimodal interfaces (ICMI 2011), November 14-18, 2011, Alicante, Spain.
31. D. Wang, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE International Conference on Robotics and Automation, ICRA 2011, May 9-13, Shanghai, China (Best Manipulation Paper Award - Finalist)
32. Zhixiang Wang, Dangxiao Wang, Yuru Zhang and Ming C. Lin, Analysis on Increasing Transparency for Penalty-based Six Degree-of-Freedom Haptic Rendering, Proc. of the World Haptics Conference 2011, Istanbul, Turkey, Jun. 21-24, 2011
33. Xin Zhang, Dangxiao Wang, Yuru Zhang and Jing Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering Using Sphere-trees, Proc. of the IEEE International conference on Intelligent robot and systems, IROS 2011, September 25-30, 2011, San Francisco, California, U.S.
34. Dangxiao Wang, Lei Fang, Mu Xu and Jiaqi Yu. Flexible Building Blocks: Modularized Design Concept of A Six-Axis Force/Torque Sensor [C]. International Conference on Mechatronics and Automation (ICMA2011). Aug. 07-10, 2011, Beijing, China
35. Ge Yu, Dangxiao Wang, Yuru Zhang, Visio-haptic simulation for detection of dental cavity profile. In ICMA 2011: Proceedings of 2011 International Conference on Mechatronics and Automation, 7-10 Aug, Beijing, 1315 – 1320 (2011)
36. Jiao Huimin, Wang Dangxiaio, Zhang yuru. Template Construction for Function-based Signature Verification. The 6th IEEE Conference on Industrial Electronics and Applications (ICIEA2011), Jun. 21, 2011 - Jun. 23, 2011, Beijing, China
37. Yi Yang, Yuru Zhang, Betty Lemaire-Semail. A New Planar 4-DOF Spring and Cable Driven Force Feedback Device. Eurohaptics Conference 2010, July 7-10, Amsterdam,Netherland
38. Hao Hu, Yuru Zhang, Xiaowei Dai and Yaojun Zhang, The Analysis of Resolution for Cable-driven Haptic Device, 2010 IEEE International Conference on Robotics and Biomimetics, pp.715-719
39. Keke Lu, Guanyang Liu, Yuru Zhang, Weidong Guo and Moyuan Zhou, Two-mode System for Tank Gunnery Skill Training Based on Haptic Interaction. 2010 IEEE International Conference on Mechatronics and Automation (ICMA 2010)，Xi'an, China. pp. 1449-1453.
40. Muli Liu, Dangxiao Wang, Yuru Zhang, A Novel Haptic Rendering Algorithm for Stable and Precise 6-DOF Virtual Assembly, ASME 2010 World Conference on Innovative Virtual Reality (WINVR2010), May 12-14, 2010, Ames, Iowa, U.S.
41. Hui Zhao, Dangxiao Wang, Soft Tissue Simulation with Bimanual Force Feedback, 2010 International Conference on Audio, Language and Image Processing (ICALIP2010), vol.1, pp.903-907.
42. Lei Fang, Dangxiao Wang, Huimin JIAO, On-line Signature Verification Based on Three-dimensional Force Signals at Critical Points, 2010 International Conference on Audio, Language and Image Processing (ICALIP2010), vol.1, pp.543-547
43. Yaojun Zhang, Yuru Zhang, Xiaowei Dai, et al. Workspace analysis of a novel 6-dof cable-driven parallel robot. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009). Guilin, China, pp 2403-2408
44. Hao Li, Yuru Zhang, Yi Yang, SINGULARITY-FREE TASKSPACE OPTIMIZATION OF 6-RSS MECHANISMS, ASME2009/IDETC, San Diego, 2009.8, v 7, n PART B, p 1237-1244
45. Yi Yang, Yuru Zhang, A New Cable-driven Haptic Device for Integrating Kinesthetic and Cutaneous Display, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009) [P], London, United Kingdom, June 22-24, 2009, pp. 386-391
46. Ju Wang, Jiting Li, Yuru Zhang, Shuang Wang, Design of an Exoskeleton for Index Finger Rehabilitation, Proceedings of the 31st Annual International IEEE EMBS Conference,2009, Minneapolis, MN, USA, pp: 5957 - 5960
47. WANG Shuang, LI Jiting, ZHANG Yuru, WANG Ju，Active and Passive Control of an Exoskeleton with Cable Transmission for Hand Rehabilitation，International Conference on BioMedical Engineering and Informatics (BMEI 2009)，17-19 Oct 2009，Tianjin,China
48. Dangxiao WANG, Jiting LI, Chao LI, An Adaptive Haptic Interaction Architecture for Knee Rehabilitation Robot, IEEE ICMA 2009, 2009 IEEE International Conference on Mechatronics and Automation, August 9 - 12, 2009, Changchun, Jilin, China
49. Jun Wu, Ge Yu, Dangxiao Wang, Yuru Zhang, Charlie C.L. Wang. Voxel-based Interactive Haptic Simulation of Dental Drilling. In Proceedings of ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. August 30-September 2, 2009, San Diego, USA
50. Xiaowei Dai, Yuru Zhang, Dangxiao Wang, Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device, 2009 ASME/IDETC, Proceeding of ASME 2009 International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference (CIE), 2009, San Diego, CA, USA
51. Jun Wu, Dangxiao Wang, Yuru Zhang. Virtual Fixture based Haptic Rendering of Handwriting. In Proceedings of IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems. May 11-13, 2009, Hong Kong, China. pp. 16-21
52. Huimin JIAO, Dangxiao WANG, Yuru ZHANG, Different role of friction and normal force for force-based signature verification, The 2nd IEEE International Conference on Image and Signal Processing (CISP 2009) , TianJin, China, 17-19 October, 2009
53. Dangxiao WANG, Yuru ZHANG, Yu WANG, Analysis of registration accuracy for collocated haptic-visual display system, Proc. of the 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Nevada, U.S. Mar. 13-14, 2008
54. Yang.Y, Zhang Yuru, Zhang Yaojun, Cao Yonggng. Singularity-Free Task Workspace Analysis of a New Six-dof Parallel Haptic Device[C], ASME IDETC/CIE2008，IDETC2008-49117,August,2008,New York
55. Renge Zhou, Dangxiao Wang, Yuru Zhang, Haptic Rendering of Tissue Boundary for Surgical Training, IEEE/ASME Advanced Intelligent Mechatronics, Xi’an, China, July 2-5, 2008
56. Xiaowei Dai, Yuru Zhang, Yonggang Cao, Dangxiao Wang, Current Closed Loop Control for Increasing Virtual Stiffness in Haptic Interaction, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications,2008, Beijing, China
57. Xiaowei DAI, Yuru ZHANG, Yonggang CAO and Dangxiao WANG. Stable Multirate Control Algorithm for Haptic Dental Training System. International Conference on Intelligent Robotics and Applications(2008ICIRA)
58. Jisheng Zhang, Jiting Li, Mileta M. Tomovic, Yuru Zhang, Stability Control of Haptic Interface, Proceedings of 2007 ASME International Mechanical Engineering Congress and Exposition, Nov11-15, 2007, Seattle, Washington, USA: 1-6
59. Dangxiao Wang, Yuru Zhang, Jun Wu, A novel haptic file format for sharing haptic sensation by record-play method, Proc. of 2007 International Conference on Human Computer Interaction, HCII, Beijing, China, Jul. 22-27, 2007
60. Chao Li, Dangxiao Wang, Yuru Zhang, Experimental Study on Enlarged Force Bandwidth Control of a Knee Rehabilitation Robot, Proc. of 2007 International Conference on Human Computer Interaction, HCII, Beijing, China, Jul. 22-27, 2007
61. Yonggang Cao, Yuru Zhang, Yunzhong Ma, Dangxiao Wang. Design and Analysis of A New Six DOF Haptic Device for Dental Training，IEEE ROMAN 2007 Conference, Jeju, Korea, Aug. 26~29, 2007
62. D. Wang, Y. Zhang, C. Yao, Machine-mediated motor skill training method in haptic-enabled Chinese calligraphy simulation system，Proceedings of 2006 IEEE International conference on Intelligent robot and systems, IROS 2006，Beijing, China，Oct. 9~15，2006
63. D. Wang, Y. Zhang, Y. Wang, G. Liu, Spatial-domain consistency between haptic and visual display under geometrical transform，Proceedings of EuroHaptics 2006, Paris, France, July 3-5, 2006
64. D. Wang, Y. Zhang, Y. Cao, Dynamic unilateral constraint (DUC) Unified model for VE-induced instability analysis in haptic system，Proceedings of EuroHaptics 2006, Paris, France, July 3-5, 2006
65. D. Wang, Y. Zhang, Y. Cao, Modeling of Intelligent Behaviour in Haptic Enabled Tug-of-War Simulation，The Multiconference on "Computational Engineering in Systems Applications"，CESA 2006，Beijing, China，Oct. 4~6，2006
66. Dangxiao WANG, Yuru ZHANG, Zhitao SUN, “Multi-modal virtual reality dental training system with integrated haptic-visual-audio display”,2006 International Conference on Robotic Welding, Intelligence and Automation (RWIA’2006), Shanghai，China, December 8-11, 2006
67. Liu, Guanyang; Zhang, Yuru, Stable haptic interaction using damping model for dental training, Proceedings - VRCIA 2006ACM International Conference on Virtual Reality Continuum and its Applications, v 2006, p 409-412
68. D. Wang, Y. Zhang et al., Virtual Tug-of-War Example of Intelligent Virtual Environment in Haptic Interaction, Proc. of the World Haptics Conference 2005, Pisa, Italy, March 15~18, 2005
69. G. Liu, Y. Zhang, D. Wang, Cutting Force Model of Dental Training System，Proc. of International Conference on Intelligent Robot and Systems (IROS) 2005, Alberta, Canada
70. Junchuan Liu, Yuru Zhang, Tianmiao Wang, Hongguang Xing, Zengmin Tian,”NeuroMaster: A Robot System for Neurosurgery,”IEEE International Conference on Robotics and Automation，New Orleans, USA, April 26, 2004
71. D. Wang, Y. Zhang, Effect of haptic device’s position resolution on stability, Proceedings of EuroHaptics 2004, Munich Germany, June 5-7, 2004, pp. 377-380
72. Jie Liu, Yuru Zhang, Dataglove Based Grasp Planning for Multi-fingered Robot Hand, Proceedings of the 11th World Congress in Mechanism and Machine Science，April 1-4, 2004，Tianjin, China, China Machinery Press, edited by Tian Huang
73. D. X. Wang, Y. Zhang, Y. Wang, P. Lu, Y. Wang, Development of dental training system with haptic display，Proceedings of 2003 IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003, Millbrae, California, U.S.A. pp: 159 – 164
74. Luo Yangyu, Wang dangxiao, Zhang Yuru, Stable boundary of virtual mass for a haptic admittance display system, Proc. of Eurohaptics 2003, Dublin, Ireland
75. S. H. Zhang, D. X. Wang, Y. R. Zhang, Y. H. Wang, Y. G. Wang, X. P. Ma, The Human-machine Interface Implementation for the Robot-assisted Endoscopic Surgery System, 2002 IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2002, Berlin, German
76. Luo Yangyu, Wang dangxiao, Zhang Yuru, Development of a Haptic Interface, Proceedings of the 2nd International Symposium on Instrumentation Science and Technology, Jinan, PR.China, 2002, pp. 272-276
