Publications

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===Journal Publications===
===Journal Publications===
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# C. Zhou, L. Wang, B. Wu, and '''K. Xu''', "A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization," ''Advanced Intelligent Systems'', Vol. Early View, pp. 2300434 (1-13), 2024.
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# J. Ding, R. E. Goldman, '''K. Xu''', S. Liu, P. Allen, D. Fowler, N. Simaan, “Design and Coordination Kinematics of an Insertable Robotic Effectors Platform (IREP) for Single Port Access Surgery”, submitted to ''IEEE/ASME Transactions on Mechatronics'', 2010
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# L. Wang, C. Zhou, Y. Cao, R. Zhao, and '''K. Xu''', "Vision-Based Markerless Tracking for Continuum Surgical Instruments in Robot-Assisted Minimally Invasive Surgery," ''IEEE Robotics and Automation Letters'', Vol. 8, No.11, pp. 7202-7209, Nov 2023.
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# B. Wu, C. Zhou, X. Wang, D. Sun, and '''K. Xu''', "Active Compliance and Force Estimation of a Continuum Surgical Manipulator Based on the Tip-Pose Feedback," ''Science China Technological Sciences'', Vol. 66, No.9, pp. 2517–2529, Sept 2023.
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# X. Wang, Y. Ding, L. Zeng, C. Zhu, B. Wu, and '''K. Xu''', "Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints," ''Journal of Mechanisms and Robotics'', Vol. 15, No.3, pp. 031005 (1-11), Jun 2023.
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# M. Russo, S. M. H. Sadati, X. Dong, A. Mohammad, I. D. Walker, C. Bergeles, '''K. Xu''', and D. A. Axinte, "Continuum Robots: An Overview," ''Advanced Intelligent Systems'', Vol. 5, No.5, pp. 2200367(1-25), May 2023.
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# Y. Chen, C. Zhang, Z. Wu, J. Zhao, B. Yang, J. Huang, Q. Luo, L. Wang, and K. Xu, "The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid-Port, and Single-Port Procedures," IEEE/ASME Transactions on Mechatronics, vol. 27, No.5, pp. 3186-3197, Oct 2022. [[media:TMech2021.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Wu, C. Zhu, Y. Ding, Y. Wang, B. Xu, and '''K. Xu''', "A Robotic Surgical Tool with Continuum Wrist, Kinematically Optimized Curved Stem, and Collision Avoidance Kinematics for Single Port Procedure," ''Mechanism and Machine Theory'', Vol. 173, No.104863, July 2022. [[media:MMT2022.Wu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# L. Wang, B. Wu, X. Wang, Q. Zhu, and '''K. Xu''', "Endoscopic Image Luminance Enhancement Based on the Inverse Square Law for Illuminance and Retinex," ''The International Journal of Medical Robotics and Computer Assisted Surgery'', Vol. e2396, pp. 1-13, March 2022. [[media:IJMRCAS2022.Wang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Wang, Z. Wu, L. Wang, B. Feng, and '''K. Xu''', "Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments," ''IEEE Robotics and Automation Letters'', Vol. 7, No.1, pp. 510-517, Jan 2022. [[media:RAL2022.Wang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Wu, L. Wang, X. Liu, L. Wang, and '''K. Xu''', "Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision," ''IEEE Robotics and Automation Letters'', Vol. 6, No.4, pp. 7137-7144, Oct. 2021. [[media:RAL2021.Wu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Zheng, B. Wu, Y. Chen, L. Zeng, G. Gu, X. Zhu, and '''K. Xu''', "Design and Validation of Cable-Driven Hyper-Redundant Manipulator with a Closed-Loop Puller-Follower Controller," ''Mechatronics'', Vol. 78, No.102605, pp. 1-12, Oct 2021. [[media:MECH2021.Zheng.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Zheng, X. Liu, B. Zhao, B. Wu, and '''K. Xu''', "An Affordable Haptic Device with Force and Torque Outputs," ''International Journal of Robotic Engineering'', Vol. 6, No.032, pp. 1-24, May 2021. [[media:IJRE2021.Zheng.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Chen, B. Wu, J. Jin, and '''K. Xu''', "A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance," ''IEEE Robotics and Automation Letters'', Vol. 6, No.2, pp. 1590-1597, April 2021. [[media:RAL2021.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Liu, Y. Chen, X. Zhu, and '''K. Xu''', "Reach to Grasp Planning for a Synergy-Controlled Robotic Hand Based on Pesudo-Distance Formulation," ''International Journal of Humanoid Robotics'', Vol. 17, No.5, p. 2050015, 2020. [[media:IJHR2020.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# H. Liu, B. Zhao, Z. Liu, and '''K. Xu''', "Design of a Lightweight Single‐Actuator Multi‐Grasp Prosthetic Hand with Force Magnification," ''ASME Journal of Mechanisms and Robotics'', Vol. 12, No.5, p. 051014, 2020. [[media:JMR2020.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Chen, S. a. Zhang, Z. Wu, B. Yang, Q. Luo, and '''K. Xu''', "A Review of Surgical Robotic Systems for Keyhole and Endoscopic Procedures: State of the Art and Perspectives," ''Frontiers of Medicine'', Vol. 14, pp. 382-403, 2020. [[media:FMD2020.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Zhao, L. Zeng, Z. Wu, and '''K. Xu''', "A Continuum Manipulator for Continuously Variable Stiffness and Its Stiffness Control Formulation," ''Mechanism and Machine Theory'', Vol. 149, pp. 103746, Jul 2020. [[media:MMT2020.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Zhao, S. a. Zhang, Z. Wu, B. Yang, and '''K. Xu''', "CombX: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," ''The International Journal of Medical Robotics and Computer Assisted Surgery'', Vol. 16, No.1, pp. e2042, Feb 2020. [[media:IJMRCAS2020.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Wu, Q. Li, J. Zhao, J. Gao, and '''K. Xu''', "Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool with Decoupled Kinematics," ''IEEE Robotics and Automation Letters'', Vol. 4, No.4, pp. 3545-3552, Oct 2019.
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# S. Zhang, Q. Li, H. Yang, J. Zhao, and '''K. Xu''', "Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance," ''IEEE Robotics and Automation Letters'', Vol. 4, No.4, pp. 3750-3757, Oct 2019.
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# Z. Yang, B. Zhao, B. Liang, X. Zhu, and '''K. Xu''', "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," ''Assembly Automation'', Vol. 39, No.3, pp. 410-421, 2019. [[media:AA2019.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Z. Liu, B. Zhao, H. Liu, and X. Zhu, "Composed Continuum Mechanism for Compliant Mechanical Postural Synergy: An Anthropomorphic Hand Design Example," ''Mechanism and Machine Theory'', Vol. 132, pp. 108-122, Feb 2019. [[media:MAMT2018.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Dai, Z. Wu, J. Zhao, and '''K. Xu''', "A Robotic Laparoscopic Tool with Enhanced Capabilities and Modular Actuation," ''Science China Technological Sciences'', Vol. 62, No.1, pp. 47-59, 2019. [[media:SCTS2018.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''徐凯''' and 刘欢, "多杆连续体机构:构型与应用," ''机械工程学报'', Vol. 54, No.13, pp. 25-33, Jul 2018. [[media:JME2018.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Liu, Z. Zhang, and X. Zhu, "Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study," ''IEEE Transactions on Neural Systems and Rehabilitation Engineering'', Vol. 26, No.3, pp. 609-618, March 2018. [[media:TNSRE2018.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''' and H. Liu, "Continuum Differential Mechanisms and Their Applications in Gripper Designs," ''IEEE Transactions on Robotics'', Vol. 32, No.3, pp. 754-762, June 2016. [[media:TRO2016.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Liu, Y. Du, and X. Zhu, "A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods," ''International Journal of Humanoid Robotics'', Vol. 13, No.3, pp. 1650009, 2016. [[media:IJHR2016.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# S. Liu, Z. Yang, Z. Zhu, L. Han, X. Zhu, and '''K. Xu''', "Development of a Dexterous Continuum Manipulator for Exploration and Inspection in Confined Spaces," ''Industrial Robot: An International Journal'', Vol. 43, No.3, pp. 284-295, 2016.[[media:IR2016.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, and X. Zheng, "Configuration Comparison among Kinematically Optimized Continuum Manipulators for Robotic Surgeries through a Single Access Port," ''Robotica'', Vol. 33, No.10, pp. 2025-2044, Dec 2015. [[media:Robotica2014.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, and M. Fu, "Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," ''IEEE/ASME Transactions on Mechatronics'', Vol. 20, No.5, pp. 2133-2145, Oct 2015. [[media:TMech2014.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Wang, R. K. Chen, B. L. Tai, '''K. Xu''' and A. J. Shih, "Study of Insertion Force and Deformation for Suturing With Precurved NiTi Guidewire," ''Journal of Biomechanical Engineering'', Vol. 137, No.4, pp. 041004, April 2015. [[media:JBio2015.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# J. Zhao, B. Feng, M.-H. Zheng, and '''K. Xu''', "Surgical Robots for SPL and NOTES: a Review," ''Minimally Invasive Therapy and Allied Technologies'', Vol. 24, No. 1, pp. 8-17, Jan 2015. [[media:MITAT2015.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Liu, Y. Du, and X. Zhu, "Design of an Underactuated Anthropomorphic Hand with Mechanically Implemented Postural Synergies," ''Advanced Robotics'', Vol. 28, No. 21, pp. 1459-1474, Nov 2014. [[media:AR2014.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, D. Qiu, and Y. Wang, "A Pilot Study of a Continuum Shoulder Exoskeleton for Anatomy Adaptive Assistances," ''ASME Journal of Mechanisms and Robotics'', Vol. 6, No. 4, pp. 041011, Jun 2014 [[media:JMR2014.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# J. Ding, R. E. Goldman, '''K. Xu''', P. K. Allen, D. L. Fowler, and N. Simaan, "Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery," ''IEEE/ASME Transactions on Mechatronics'', Vol. 18, No. 5, pp. 1612-1624, Oct 2013 [[media:TMech2013.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''徐凯''', "连续体机构在单腔镜微创手术机器人系统中的应用", ''机器人技术与应用'', Vol. 2011, No. 4, pp. 28-32, 2011
# '''K. Xu''' and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," ''IEEE Transactions on Robotics'', Vol.26, pp.555-561, June, 2010 [[media:TRO2010.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# '''K. Xu''' and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," ''IEEE Transactions on Robotics'', Vol.26, pp.555-561, June, 2010 [[media:TRO2010.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# '''K. Xu''' and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ''ASME Journal of Mechanisms and Robotics'', Vol. 2, DoI.011006-1, Feb, 2010 [[media:JMR2010.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# '''K. Xu''' and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ''ASME Journal of Mechanisms and Robotics'', Vol. 2, DoI.011006-1, Feb, 2010 [[media:JMR2010.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# N. Simaan, '''K. Xu''', A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," ''International Journal of Robotics Research'', Vol. 28, No. 9, 1134-1153 [[media:IJRR2009.Simaan.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# N. Simaan, '''K. Xu''', A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," ''International Journal of Robotics Research'', Vol. 28, No. 9, 1134-1153 [[media:IJRR2009.Simaan.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# '''K. Xu''' and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," ''IEEE Transactions on Robotics'', vol. 24, pp. 576-587, June 2008 [[media:TRO2008.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# '''K. Xu''' and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," ''IEEE Transactions on Robotics'', vol. 24, pp. 576-587, June 2008 [[media:TRO2008.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', K. Chen, L. Liu, and D. Yang, "Walking Gait Compensation Algorithm for Humanoid Robots Based on Universal Force-Moment Sensors and Joint Torques," ''Robotics'', vol. 28, No.2, pp. 213-218, 2006 (In Chinese)
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# '''徐凯''', 陈恳, 刘莉, and 杨东超, "基于六维力/力矩传感器和关节力矩的仿人机器人步态补偿算法", ''机器人'', Vol. 28, No. 2, pp. 213-218, 2006
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# '''K. Xu''', K. Chen, L. Liu, and D. Yang, "Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg," ''Robotics'', vol. 27, No.3, pp203-209, 2005 (In Chinese)
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# '''徐凯''', 陈恳, 刘莉, and 杨东超, "基于主支撑腿运动优化的仿人机器人快速步态规划算法", ''机器人'', Vol. 27, No. 3, pp. 203-209, 2005
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# J. Zhao, '''K. Xu''', C. Fu, X. Yang, and K. Chen, "The Self-Regulating Nonlinear Control of Ankle Roll Joint of Humanoid Robot," ''Robotics'', vol. 26, No.2, pp. 127-132, 2004 (In Chinese)
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# 赵建东, '''徐凯''', 付成龙, 杨向东 and 陈恳, "仿人机器人踝侧摆的自调节模糊非线性控制研究", ''机器人'', Vol. 26, No. 2, pp. 127-132, 2004
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# D. Yang, L. Liu, '''K. Xu''', J. Wang, and K. Chen, "Kinematics Analysis of the Humanoid Robot," ''Chinese Journal of Mechanical Engineering'', vol. 39, Sep. 2003 (In Chinese)
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# 杨东超, 刘莉, '''徐凯''', 汪劲松 and 陈恳, "拟人机器人运动学分析", ''机械工程学报'', Vol. 39, No. 9, pp. 70-74, 2003
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# Y. Ou, K. Chen, '''K. Xu''', and J. Wang, "Analysis of Elastic Deformation Effects on Gait Planning of Humanoid Robots," ''Machine Tool and Hydraulics'', vol. 185, pp. 19-21, May 2003 (In Chinese)
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# 欧阳兴, 陈恳, '''徐凯''' and 汪劲松, "弹性变形对仿人机器人步态规划的影响分析", ''机床与液压'', Vol. 185, No. 5, pp. 19-21, 2003
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# J. Zhao, L. Shao, '''K. Xu''', L. Liu, and K. Chen, "Research on the Servo Control System of the Humanoid Robot Joints Based on CAN Bus," ''Robotics'', vol. 24, No.5, pp. 421-427, 2002 (In Chinese)
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# 赵建东, 邵黎君, '''徐凯''', 刘莉 and 陈恳, "基于CAN总线的仿人机器人关节伺服控制系统研究", ''机器人'', Vol. 24, No. 5, pp. 421-426, 2002
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# D. Yang, '''K. Xu''', L. Liu, and K. Chen, "Virtual Simulations for Humanoid Robots in the 3DS Max," ''Machinery Design and Manufacture'', vol. 4, pp. 48-49, Aug 2002 (In Chinese)
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# 杨东超, '''徐凯''', 刘莉, and 陈恳, "利用3DS MAX实现拟人机器人动画仿真", ''机械设计与制造'', Vol. 2002, No. 4, pp. 48-49, 2002
====Conference Paper====
====Conference Paper====
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# Y. Zhang, B. Wu, C. Zhou, and '''K. Xu''', "Automatic Parking for a Surgical Robotic Patient-Side Cart Using Monocular Vision," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Koh Samui, Thailand, 2023, pp. 1-6.
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# J. Ding, '''K. Xu''', R. Goldman, P. K. Allen, D. L. Fowler, and N. Simaan, “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery” in ''IEEE International Conference on Robotics and Automation (ICRA)'', Anchorage, Alaska, USA, 2010, pp. 1053-1058 [[media:ICRA2010.Ding.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Wu, X. Liu, C. Zhu, and '''K. Xu''', "Design and Implementation of a Self-Calibration Method for a Dual-Arm Haptic Device," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Jinghong, China, 2022, pp. 409-414.
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# '''K. Xu''', R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery," in ''IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', St. Louis, MO. USA, 2009, pp.5546-5552 [[media:IROS2009.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Ding, X. Wang, H. Kuang, and '''K. Xu''', "Incorporating Trocar Clearance in the Kinematics of Multi-Backbone Continuum Robots for Single-Port Surgery," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Jinghong, China, 2022, pp. 1757-1762.
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# J. Zhang, '''K. Xu''', N. Simaan, and S. Manolidis, "A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays," in ''International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)'', Copenhagen, Sweden, 2006, pp. 33-40 (Best Student Paper Award) [[media:MICCAI2006.Zhang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# X. Wang, Y. Ding, C. Zhou, and '''K. Xu''', "FABRIKc Delta: Extending the FABRIKc Algorithm to Solve the Forward Kinematics of a Continuum Delta Robot," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Jinghong, China, 2022, pp. 2009-2014.
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# W. Wei, '''K. Xu''', and N. Simaan, "A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat," in ''IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB)'', Pisa, Italy, 2006, pp. 769-774
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# C. Zhou, L. Wang, Y. Zhang, X. Sheng, and '''K. Xu''', "FC-DenseNet-Based Photometric Stereo for Endoscopes with Close-range Non-parallel Light Illumination," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Jinghong, China, 2022, pp. 2159-2164.
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# '''K. Xu''' and N. Simaan, "Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Orlando, Florida, USA, 2006, pp. 4148- 4154 [[media:ICRA2006.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Ding, B. Wu, C. Zhu, and '''K. Xu''', "A Novel Electrode Arrangement for Bipolar Electrosurgical Instruments to Reduce Thermal Spread and Tissue Adhesion: A Proof-of-Concept Study," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Jinghong, China, 2022, pp. 2293-2298.
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# Y. Wang, Y. Zheng, L. Wang, B. Xu, and '''K. Xu''', "Manipulability-Oriented Configuration Transition Control of Continuum Surgical Manipulators Based on Velocity Polytopes," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Sanya, China, 2021, pp. 533-538. [[media:ROBIO2021.Wang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# C. Zhu, Y. Wang, Y. Ding, X. Wang, and '''K. Xu''', "Design and Modeling of a Reloadable Coil-Delivery Instrument for Aneurysm Embolization," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Sanya, China, 2021, pp. 42-48. [[media:ROBIO2021.Zhu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Wang, C. Zhu, Y. Ding, B. Feng, and '''K. Xu''', "Feedforward Neural Network Assisted Configuration Transition Control of Continuum Surgical Manipulators," in ''International Conference on Mechatronics and Machine Vision in Practice (M2VIP)'', Shanghai, China, 2021, pp. 617-622. [[media:M2VIP2021.Wang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# L. Deng, Z. Wu, Y. Wang, L. Wang, and K. Xu, "Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, 2021, pp. 57-62. [[media:RCAR2021.Deng.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# L. Wang, Q. Li, H. Yang, J. Huang, and '''K. Xu''', "A Sample-Based Color Correction Method for Laparoscopic Images," in ''IEEE International Conference on Real-time Computing and Robotics (RCAR)'', Asahikawa, Japan, 2020, pp. 446-451. [[media:RCAR2020.Wang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# H. Yang, B. Wu, X. Liu, and '''K. Xu''', "A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Boston, Massachusetts, USA, 2020, pp. 350-355. [[media:AIM2020.Yang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Conference Paper]</span>
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# X. Liu, B. Wu, Z. Wu, L. Zeng, and K. Xu, "ParaMaster: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, 2020, pp. 375-380. [[media:AIM2020.Liu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Zhao, L. Zeng, B. Wu, and '''K. Xu''', "A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Paris, France, 2020, pp. 1847-1853. [[media:ICRA2020.Zhao.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Chen, H. Yang, X. Liu, and '''K. Xu''', "Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Paris, France, 2020, pp. 2400-2406. [[media:ICRA2020.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Q. Li, H. Yang, Y. Chen, and '''K. Xu''', "Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Dali, Yunnan, China, 2019, pp. 1551-1556. [[media:ROBIO2019.Li.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Wu, H. Yang, X. Liu, and '''K. Xu''', "Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Dali, Yunnan, China, 2019, pp. 303-308. [[media:ROBIO2019.Wu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Paper Finalist]</span>
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# B. Wu, L. Zeng, Y. Zheng, S. a. Zhang, X. Zhu, and '''K. Xu''', "A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Dali, Yunnan, China, 2019, pp. 2433-2438. [[media:ROBIO2019.Wu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Wu, M. Cederle, E. R. Giani, and '''K. Xu''', "Design of a Cable Driven Floating Robotic Arm with Continuum Joints," in ''IEEE International Conference on Real-time Computing and Robotics (RCAR)'', Irkutsk, Russia, 2019, pp. 749-754. [[media:RCAR2019.Wu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# L. Zeng, X. Liu, Y. Zheng, and '''K. Xu''', "Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator," in ''IEEE International Conference on Real-time Computing and Robotics (RCAR)'', Irkutsk, Russia, 2019, pp. 118-123. [[media:RCAR2019.Zeng.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# H. Liu, '''K. Xu''', B. Siciliano, and F. Ficuciello, "The MERO Hand: a Mechanically Robust Anthropomorphic Prosthetic Hand Using Novel Compliant Joint," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Hong Kong, China, 2019, pp. 126-132. [[media:AIM2019.Liu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Y. Chen, S. a. Zhang, L. Zeng, X. Zhu, and '''K. Xu''', "Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Montreal, Canada, 2019, pp. 4416-4421. [[media:ICRA2019.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# S. Zhang, Y. Chen, Q. Li, B. Zhao, and '''K. Xu''', "Kinematic Optimization of a Continuum Surgical Manipulator," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Kuala Lumpur, Malaysia, 2018, pp. 2069-2074. [[media:ROBIO2018.Zhang.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Zhao, S. Zhang, Z. Wu, Q. Li, and '''K. Xu''', "CombX: Design of a Haptic Device for Teleoperation," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Kuala Lumpur, Malaysia, 2018, pp. 1969-1974. [[media:ROBIO2018.Zhao.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# T. Dong, Y. Chen, L. Zeng, Z. Liu, and '''K. Xu''', "Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic System," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Kuala Lumpur, Malaysia, 2018, pp. 1244-1249. [[media:ROBIO2018.Dong.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Zhang, Z. Wu, L. Zeng, W. Zhang, and '''K. Xu''', "Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Kuala Lumpur, Malaysia, 2018, pp. 922-927. [[media:ROBIO2018.Zhang.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Student Paper Finalist]</span>
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# Z. Liu, Z. Wu, T. Dong, X. Zhu, and '''K. Xu''', "Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Kuala Lumpur, Malaysia, 2018, pp. 778-783. [[media:ROBIO2018.Liu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# B. Zhao, W. Zhang, Z. Zhang, X. Zhu, and '''K. Xu''', "Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness," in ''IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', Madrid, Spain, 2018, pp. 7492-7499. [[media:IROS2018.Zhao.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# W. Zhang, Z. Yang, T. Dong, and '''K. Xu''', "FABRIKc: An Efficient Iterative Inverse Kinematics Solver for Continuum Robots," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Auckland, New Zealand, 2018, pp. 346-352. [[media:AIM2018.Zhang.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# Z. Yang, X. Zhu, and '''K. Xu''', "Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Auckland, New Zealand, 2018, pp. 748-755. [[media:AIM2018.Yang.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# H. Liu, Z. Zhang, T. Dong, X. Zhu, and '''K. Xu''', "A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Auckland, New Zealand, 2018, pp. 359-364. [[media:AIM2018.Liu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Y. Chen, Z. Zhang, S. a. Zhang, N. Xing, and X. Zhu, "An Insertable Low-Cost Continuum Tool for Shape Sensing," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Macau SAR, China, 2017, pp. 2044-2049. [[media:ROBIO2017.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', B. Zhao, S. a. Zhang, Z. Zhang, and N. Xing, "Design of a Haptic Master Device for Teleoperation Applications," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Macau SAR, China, 2017, pp. 1436-1441. [[media:ROBIO2017.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Zhang, J. Zhao, and Z. Dai, "Design of a Robotic Laparoscopic Tool with Modular Actuation," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Wuhan, China, 2017, pp. 298-310. [[media:ICIRA2017.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', B. Liang, Z. Dai, J. Zhao, B. Zhao, H. Liu, L. Xiao, and Y. Sun, "Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Wuhan, China, 2017, pp. 311-322. [[media:ICIRA2017.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Z. Dai, J. Zhao, and W. Mei, "Dexterity and Functionality Enhancement of the SJTU Unfoldable Robotic System," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Busan, Korea, 2015, pp. 151-157. [[media:AIM2015.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Liu, Z. Liu, Y. Du, and X. Zhu, "A Single-Actuator Prosthetic Hand Using a Continuum Differential Mechanism," in IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015, pp. 6457-6462. [[media:ICRA2015.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', W. Mei, Z. Yang, L. Han, and X. Zhu, "Design of a Hyper-Redundant Continuum Manipulator for Intra-Cavity Tasks," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Bali, Indonesia, 2014, pp. 380-385. [[media:ROBIO2014.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', M. Fu, and J. Zhao, "Design of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Bali, Indonesia, 2014, pp. 53-57. [[media:ROBIO2014.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Y. Wang, and Z. Yang, "Design of a Continuum Wearable  Robot for Shoulder Rehabilitation," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Guangzhou, China, 2014, pp. 364-375. [[media:ICIRA2014.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Z. Dai, B. Feng, and J. Zhao, "Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Guangzhou, China, 2014, pp. 299-310. [[media:ICIRA2014.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Y. Wang, and Z. Yang, "Design and Preliminary Experimentation of a Continuum Exoskeleton for Self-Provided Bilateral Rehabilitation," in ''IEEE International Conference on Information and Automation (ICIA)'', Hailar, Inner Mongolia, China, 2014, pp. 327-332. [[media:ICIA2014.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Conference Paper]</span>
 +
# '''K. Xu''', J. Zhao, and Z. Dai, "A Foldable Stereo Vision Unit for Single Port Access Laparoscopy," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Hong Kong, China, 2014, pp. 4182-4187. [[media:ICRA2014.Xu.3.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', M. Fu, and J. Zhao, "An Experimental Kinestatic Comparison between Continuum Manipulators with Structural Variations," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Hong Kong, China, 2014, pp. 3258-3264.[[media:ICRA2014.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', H. Liu, Y. Du, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies Using a Simple Continuum Mechanism," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Hong Kong, China, 2014, pp. 1348-1353. [[media:ICRA2014.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, and G. Liu, "Synthesis of a Micro Motor Actuated by Remote Resonant Magnetic Fields," in ''IEEE International Conference on Information and Automation (ICIA)'', Yinchuan, Ningxia, China, 2013, pp. 331-336. [[media:ICIA2013.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Conference Paper]</span>
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# '''K. Xu''', Y. Du, H. Liu, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies of an Underactuated Prosthetic Hand," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Busan, Korea, 2013, pp. 463-474. [[media:ICIRA2013.Xu.3.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', Y. Wang, and D. Qiu, "Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX)," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Busan, Korea, 2013, pp. 351-362. [[media:ICIRA2013.Xu.2.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''' and G. Liu, "Design of Selectively Controllable Micro Actuators Powered by Remote Resonant Magnetic Fields," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Busan, Korea, 2013, pp. 143-154. [[media:ICIRA2013.Xu.1.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# J. Zhao, X. Zheng, M. Zheng, A. J. Shih, and '''K. Xu''', "An Endoscopic Continuum Testbed for Finalizing System Characteristics of a Surgical Robot for NOTES Procedures," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Wollongong, Australia, 2013, pp. 63-70. [[media:AIM2013.Zhao.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]] <span style="color:blue; background-color:yellow">[Best Student Paper]</span>
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# '''K. Xu''', J. Zhao, Y. Du, X. Sheng, and X. Zhu, "Design and Postural Synergy Synthesis of a Prosthetic Hand for a Manipulation Task," in ''IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'', Wollongong, Australia, 2013, pp. 56-62. [[media:AIM2013.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''' and D. Qiu, "Experimental Design Verification of a Compliant Shoulder Exoskeleton," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Karlsruhe, Germany, 2013, pp. 3894-3901. [[media:ICRA2013.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, and A. J. Shih, "Development of an Endoscopic Continuum Robot to Enable Transgastric Surgical Obesity Treatment," in ''International Conference on Intelligent Robotics and Applications (ICIRA)'', Montreal, Quebec, Canada, 2012, pp. 589-600. [[media:ICIRA2012.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''' and X. Zheng, "Configuration Comparison for Surgical Robotic Systems Using a Single Access Port and Continuum Mechanisms," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Saint Paul, MN, USA, 2012, pp. 3367-3374. [[media:ICRA2012.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', D. Qiu, and N. Simaan, "A Pilot Investigation of Continuum Robots as a Design Alternative for Upper Extremity Exoskeletons," in ''IEEE International Conference on Robotics and Biomimetics (ROBIO)'', Phuket, Thailand, 2011, pp. 656-662. [[media:ROBIO2011.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', J. Zhao, J. Geiger, A. J. Shih, and M. Zheng, "Design of an Endoscopic Stitching Device for Surgical Obesity Treatment Using a N.O.T.E.S Approach," in ''IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', San Francisco, CA, USA, 2011, pp. 961-966. [[media:IROS2011.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# J. Ding, '''K. Xu''', R. Goldman, P. K. Allen, D. L. Fowler, and N. Simaan, “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery” in ''IEEE International Conference on Robotics and Automation (ICRA)'', Anchorage, Alaska, USA, 2010, pp. 1053-1058. [[media:ICRA2010.Ding.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''', R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery," in ''IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)'', St. Louis, MO. USA, 2009, pp. 5546-5552. [[media:IROS2009.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# J. Zhang, '''K. Xu''', N. Simaan, and S. Manolidis, "A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays," in ''International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)'', Copenhagen, Sweden, 2006, pp. 33-40. [[media:MICCAI2006.Zhang.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# W. Wei, '''K. Xu''', and N. Simaan, "A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat," in ''IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB)'', Pisa, Italy, 2006, pp. 769-774. [[media:BIOROB2006.Wei.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# '''K. Xu''' and N. Simaan, "Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Orlando, Florida, USA, 2006, pp. 4148-4154. [[media:ICRA2006.Xu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
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# C. Fu, M. Shuai, '''K. Xu''', J. Zhao, J. Wang, Y. Huang, and K. Chen, "Planning and Control for THBIP-I Humanoid Robot," in ''IEEE International Conference on Mechatronics and Automation (ICMA)'', Luoyang, Henan, China, 2006, pp. 1066-1071. [[media:ICMA2006.Fu.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]
# M. Zhao, L. Liu, J. Wang, K. Chen, J. Zhao, and '''K. Xu''', "Control System Design of THBIP-I Humanoid Robot," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Washington, DC, USA, 2002, pp. 2253-2258
# M. Zhao, L. Liu, J. Wang, K. Chen, J. Zhao, and '''K. Xu''', "Control System Design of THBIP-I Humanoid Robot," in ''IEEE International Conference on Robotics and Automation (ICRA)'', Washington, DC, USA, 2002, pp. 2253-2258
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# L. Liu, J. Wang, K. Chen, D. Yang, and '''K. Xu''', "A New Method of Three-Dimensional Walking Trajectory Planning for Biped Robots," in ''International Conference on Climbing and Walking Robot (CLAWAR)'', Karlsruhe, Germany, 2001, pp. 797-804
+
# '''K. Xu''', K. Chen, J. Wang, L. Liu, D. Yang, and J. Zhao, "A New Method of Gait Generation for a Biped Walking Robot," in ''IEEE-RAS International Conference on Humanoid Robots'', Tokyo, Japan, 2001.
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# '''K. Xu''', K. Chen, J. Wang, L. Liu, D. Yang, and J. Zhao, "A New Method of Gait Generation for a Biped Walking Robot," in ''IEEE-RAS International Conference on Humanoid Robots'', Tokyo, Japan, 2001,
+
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+
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====Patents====
====Patents====
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+
# '''徐凯''', 朱向阳, 阳志雄, 梁博, 赵彬, 陈煜阳, 吴中昊 and 张伟浩, 一种柔性分拣机器人系统, ZL201710329541.2, 2020.7.14
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# '''徐凯''', 朱向阳, 刘欢, 张兆宇, 刘增辉, 张慧超, 陈煜阳 and 梁博, 一种半掌假肢手, ZL201611102375.4, 2019.8.9
 +
# '''徐凯''', 朱向阳, 阳志雄, 刘欢, 朱志军, 陈煜阳, 梁博 and 赵彬, 一种模块化高冗余多自由度柔性机械臂系统, ZL201610226875.2, 2018.6.26
 +
# '''徐凯''', 朱向阳, 阳志雄, 刘欢, 朱志军 and 韩亮亮, 一种模块化高冗余多自由度柔性机械臂系统, ZL201610227400.5, 2017.10.10
 +
# '''徐凯''', 戴正晨, 冯波, 赵江然, 阳志雄, 梅务昆 and 郑民华, 手持式可翻展单孔腹腔镜, ZL201410857406.1, 2017.08.11
 +
# '''徐凯''', 朱向阳, 刘欢, 杜宇恒, 刘增辉 and 盛鑫军, 基于连续体差动机构的单电机欠驱动假肢手, A61F2/56, ZL201510246103.0, 2016.10.19
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# '''徐凯''', 赵江然, 傅敏霄, 阳志雄, 戴正晨 and 梅务昆, 单孔腹腔镜微创手术机器人系统, A61B17/94, ZL201410206379.1, 2016.04.13
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# '''徐凯''', 赵江然, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, ZL201310522345.9, 2016.03.16
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# '''徐凯''', 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 一种基于行星齿轮系的欠驱动假肢手系统, A61F2/54, ZL201310643657.5, 2016.01.13
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# '''徐凯''', 赵江然, 邱冬, 郑西点, 冯波 and 郑民华, 基于内窥镜的快速缝合机构, A61B17/04, ZL201310290251.3, 2015.07.29
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# '''徐凯''', 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 基于连续体传动机构的欠驱动假肢手, A61F2/54, ZL201310687094.X, 2015.07.22
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# '''徐凯''', 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 基于流体转换的外骨骼辅助康复治疗系统, A61H1/02, ZL201310290231.6, 2015.04.08
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# '''徐凯''', 朱向阳, 汪友, 赵江然, 刘国庆, 傅敏宵 and 阳志雄, 自助式双侧同步外骨骼康复机构, A61H1/00, ZL201310627763.4, 2015.03.18
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# '''徐凯''', 赵江然, 郑西点, 邱冬, 冯波 and 郑民华, 内窥镜无创手术系统, A61B17/00, ZL201310290266.X, 2015.03.18
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# '''徐凯''', 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 外骨骼辅助康复治疗系统, A61F4/00, ZL201310289862.6, 2015.03.11
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# '''徐凯''', 赵江然, 郑西点, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, A61B1/04, ZL201310533434.3, 2015.02.04
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# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11
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# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21
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# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11
# Nabil Simaan, '''Kai Xu''', Roger Goldman, Peter Allen, Dennis Fowler, "Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery," U.S. 61/103,415, October 2008.
# Nabil Simaan, '''Kai Xu''', Roger Goldman, Peter Allen, Dennis Fowler, "Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery," U.S. 61/103,415, October 2008.
# Nabil Simaan, '''Kai Xu''', "System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots," U.S. 61/147,275, January 2009.
# Nabil Simaan, '''Kai Xu''', "System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots," U.S. 61/147,275, January 2009.
-
# Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, '''Kai Xu''', Xing Ouyang, Lijun Shao and Dingding Lin, "4-link transmission structure in the hip joint of a humanoid robot", patent SN: CN 1317400A
 
-
# Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, '''Kai Xu''', Xing Ouyang, Lijun Shao and Dingding Lin, "Transmission device in the hip joint of a humanoid robot," patent SN: CN 1351923
 
-
# Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, '''Kai Xu''', Xing Ouyang, Lijun Shao and Dingding Lin, "4-link transmission structure in the ankle joint of a humanoid robot," patent SN: CN 1317399A
 
-
# Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, '''Kai Xu''', Xing Ouyang, Lijun Shao and Dingding Lin, "Transmission device in the ankle joint of a humanoid robot," patent SN: CN 1351924
 
-
 
-
 
====Doctoral Dissertation====
====Doctoral Dissertation====
-
 
+
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.
-
'''K. Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.
+
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.
 +
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.
 +
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.
 +
# '''Zhengchen Dai''', "Design, Modeling, and Applications of Multi-Backbone Continuum Mechanisms in Manual and Robotic Surgical Tools," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.
 +
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.
 +
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.
 +
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.
 +
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.
 +
# '''Yuyang Chen''', "Modeling and Implementation of Continuum Robots with Constant and Variable Curvature for Surgical Applications," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2021.
 +
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.

Latest revision as of 05:44, 6 April 2024

Journal Publications

  1. C. Zhou, L. Wang, B. Wu, and K. Xu, "A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization," Advanced Intelligent Systems, Vol. Early View, pp. 2300434 (1-13), 2024.
  2. L. Wang, C. Zhou, Y. Cao, R. Zhao, and K. Xu, "Vision-Based Markerless Tracking for Continuum Surgical Instruments in Robot-Assisted Minimally Invasive Surgery," IEEE Robotics and Automation Letters, Vol. 8, No.11, pp. 7202-7209, Nov 2023.
  3. B. Wu, C. Zhou, X. Wang, D. Sun, and K. Xu, "Active Compliance and Force Estimation of a Continuum Surgical Manipulator Based on the Tip-Pose Feedback," Science China Technological Sciences, Vol. 66, No.9, pp. 2517–2529, Sept 2023.
  4. X. Wang, Y. Ding, L. Zeng, C. Zhu, B. Wu, and K. Xu, "Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints," Journal of Mechanisms and Robotics, Vol. 15, No.3, pp. 031005 (1-11), Jun 2023.
  5. M. Russo, S. M. H. Sadati, X. Dong, A. Mohammad, I. D. Walker, C. Bergeles, K. Xu, and D. A. Axinte, "Continuum Robots: An Overview," Advanced Intelligent Systems, Vol. 5, No.5, pp. 2200367(1-25), May 2023.
  6. Y. Chen, C. Zhang, Z. Wu, J. Zhao, B. Yang, J. Huang, Q. Luo, L. Wang, and K. Xu, "The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid-Port, and Single-Port Procedures," IEEE/ASME Transactions on Mechatronics, vol. 27, No.5, pp. 3186-3197, Oct 2022. [FULLTEXT]
  7. Z. Wu, C. Zhu, Y. Ding, Y. Wang, B. Xu, and K. Xu, "A Robotic Surgical Tool with Continuum Wrist, Kinematically Optimized Curved Stem, and Collision Avoidance Kinematics for Single Port Procedure," Mechanism and Machine Theory, Vol. 173, No.104863, July 2022. [FULLTEXT]
  8. L. Wang, B. Wu, X. Wang, Q. Zhu, and K. Xu, "Endoscopic Image Luminance Enhancement Based on the Inverse Square Law for Illuminance and Retinex," The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. e2396, pp. 1-13, March 2022. [FULLTEXT]
  9. Y. Wang, Z. Wu, L. Wang, B. Feng, and K. Xu, "Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments," IEEE Robotics and Automation Letters, Vol. 7, No.1, pp. 510-517, Jan 2022. [FULLTEXT]
  10. B. Wu, L. Wang, X. Liu, L. Wang, and K. Xu, "Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision," IEEE Robotics and Automation Letters, Vol. 6, No.4, pp. 7137-7144, Oct. 2021. [FULLTEXT]
  11. Y. Zheng, B. Wu, Y. Chen, L. Zeng, G. Gu, X. Zhu, and K. Xu, "Design and Validation of Cable-Driven Hyper-Redundant Manipulator with a Closed-Loop Puller-Follower Controller," Mechatronics, Vol. 78, No.102605, pp. 1-12, Oct 2021. [FULLTEXT]
  12. Y. Zheng, X. Liu, B. Zhao, B. Wu, and K. Xu, "An Affordable Haptic Device with Force and Torque Outputs," International Journal of Robotic Engineering, Vol. 6, No.032, pp. 1-24, May 2021. [FULLTEXT]
  13. Y. Chen, B. Wu, J. Jin, and K. Xu, "A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance," IEEE Robotics and Automation Letters, Vol. 6, No.2, pp. 1590-1597, April 2021. [FULLTEXT]
  14. Z. Liu, Y. Chen, X. Zhu, and K. Xu, "Reach to Grasp Planning for a Synergy-Controlled Robotic Hand Based on Pesudo-Distance Formulation," International Journal of Humanoid Robotics, Vol. 17, No.5, p. 2050015, 2020. [FULLTEXT]
  15. H. Liu, B. Zhao, Z. Liu, and K. Xu, "Design of a Lightweight Single‐Actuator Multi‐Grasp Prosthetic Hand with Force Magnification," ASME Journal of Mechanisms and Robotics, Vol. 12, No.5, p. 051014, 2020. [FULLTEXT]
  16. Y. Chen, S. a. Zhang, Z. Wu, B. Yang, Q. Luo, and K. Xu, "A Review of Surgical Robotic Systems for Keyhole and Endoscopic Procedures: State of the Art and Perspectives," Frontiers of Medicine, Vol. 14, pp. 382-403, 2020. [FULLTEXT]
  17. B. Zhao, L. Zeng, Z. Wu, and K. Xu, "A Continuum Manipulator for Continuously Variable Stiffness and Its Stiffness Control Formulation," Mechanism and Machine Theory, Vol. 149, pp. 103746, Jul 2020. [FULLTEXT]
  18. B. Zhao, S. a. Zhang, Z. Wu, B. Yang, and K. Xu, "CombX: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No.1, pp. e2042, Feb 2020. [FULLTEXT]
  19. Z. Wu, Q. Li, J. Zhao, J. Gao, and K. Xu, "Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool with Decoupled Kinematics," IEEE Robotics and Automation Letters, Vol. 4, No.4, pp. 3545-3552, Oct 2019.
  20. S. Zhang, Q. Li, H. Yang, J. Zhao, and K. Xu, "Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance," IEEE Robotics and Automation Letters, Vol. 4, No.4, pp. 3750-3757, Oct 2019.
  21. Z. Yang, B. Zhao, B. Liang, X. Zhu, and K. Xu, "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," Assembly Automation, Vol. 39, No.3, pp. 410-421, 2019. [FULLTEXT]
  22. K. Xu, Z. Liu, B. Zhao, H. Liu, and X. Zhu, "Composed Continuum Mechanism for Compliant Mechanical Postural Synergy: An Anthropomorphic Hand Design Example," Mechanism and Machine Theory, Vol. 132, pp. 108-122, Feb 2019. [FULLTEXT]
  23. Z. Dai, Z. Wu, J. Zhao, and K. Xu, "A Robotic Laparoscopic Tool with Enhanced Capabilities and Modular Actuation," Science China Technological Sciences, Vol. 62, No.1, pp. 47-59, 2019. [FULLTEXT]
  24. 徐凯 and 刘欢, "多杆连续体机构:构型与应用," 机械工程学报, Vol. 54, No.13, pp. 25-33, Jul 2018. [FULLTEXT]
  25. K. Xu, H. Liu, Z. Zhang, and X. Zhu, "Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 26, No.3, pp. 609-618, March 2018. [FULLTEXT]
  26. K. Xu and H. Liu, "Continuum Differential Mechanisms and Their Applications in Gripper Designs," IEEE Transactions on Robotics, Vol. 32, No.3, pp. 754-762, June 2016. [FULLTEXT]
  27. K. Xu, H. Liu, Y. Du, and X. Zhu, "A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods," International Journal of Humanoid Robotics, Vol. 13, No.3, pp. 1650009, 2016. [FULLTEXT]
  28. S. Liu, Z. Yang, Z. Zhu, L. Han, X. Zhu, and K. Xu, "Development of a Dexterous Continuum Manipulator for Exploration and Inspection in Confined Spaces," Industrial Robot: An International Journal, Vol. 43, No.3, pp. 284-295, 2016.[FULLTEXT]
  29. K. Xu, J. Zhao, and X. Zheng, "Configuration Comparison among Kinematically Optimized Continuum Manipulators for Robotic Surgeries through a Single Access Port," Robotica, Vol. 33, No.10, pp. 2025-2044, Dec 2015. [FULLTEXT]
  30. K. Xu, J. Zhao, and M. Fu, "Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," IEEE/ASME Transactions on Mechatronics, Vol. 20, No.5, pp. 2133-2145, Oct 2015. [FULLTEXT]
  31. Y. Wang, R. K. Chen, B. L. Tai, K. Xu and A. J. Shih, "Study of Insertion Force and Deformation for Suturing With Precurved NiTi Guidewire," Journal of Biomechanical Engineering, Vol. 137, No.4, pp. 041004, April 2015. [FULLTEXT]
  32. J. Zhao, B. Feng, M.-H. Zheng, and K. Xu, "Surgical Robots for SPL and NOTES: a Review," Minimally Invasive Therapy and Allied Technologies, Vol. 24, No. 1, pp. 8-17, Jan 2015. [FULLTEXT]
  33. K. Xu, H. Liu, Y. Du, and X. Zhu, "Design of an Underactuated Anthropomorphic Hand with Mechanically Implemented Postural Synergies," Advanced Robotics, Vol. 28, No. 21, pp. 1459-1474, Nov 2014. [FULLTEXT]
  34. K. Xu, J. Zhao, D. Qiu, and Y. Wang, "A Pilot Study of a Continuum Shoulder Exoskeleton for Anatomy Adaptive Assistances," ASME Journal of Mechanisms and Robotics, Vol. 6, No. 4, pp. 041011, Jun 2014 [FULLTEXT]
  35. J. Ding, R. E. Goldman, K. Xu, P. K. Allen, D. L. Fowler, and N. Simaan, "Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery," IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 5, pp. 1612-1624, Oct 2013 [FULLTEXT]
  36. 徐凯, "连续体机构在单腔镜微创手术机器人系统中的应用", 机器人技术与应用, Vol. 2011, No. 4, pp. 28-32, 2011
  37. K. Xu and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," IEEE Transactions on Robotics, Vol.26, pp.555-561, June, 2010 [FULLTEXT]
  38. K. Xu and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ASME Journal of Mechanisms and Robotics, Vol. 2, DoI.011006-1, Feb, 2010 [FULLTEXT]
  39. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," International Journal of Robotics Research, Vol. 28, No. 9, 1134-1153 [FULLTEXT]
  40. K. Xu and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," IEEE Transactions on Robotics, vol. 24, pp. 576-587, June 2008 [FULLTEXT]
  41. 徐凯, 陈恳, 刘莉, and 杨东超, "基于六维力/力矩传感器和关节力矩的仿人机器人步态补偿算法", 机器人, Vol. 28, No. 2, pp. 213-218, 2006
  42. 徐凯, 陈恳, 刘莉, and 杨东超, "基于主支撑腿运动优化的仿人机器人快速步态规划算法", 机器人, Vol. 27, No. 3, pp. 203-209, 2005
  43. 赵建东, 徐凯, 付成龙, 杨向东 and 陈恳, "仿人机器人踝侧摆的自调节模糊非线性控制研究", 机器人, Vol. 26, No. 2, pp. 127-132, 2004
  44. 杨东超, 刘莉, 徐凯, 汪劲松 and 陈恳, "拟人机器人运动学分析", 机械工程学报, Vol. 39, No. 9, pp. 70-74, 2003
  45. 欧阳兴, 陈恳, 徐凯 and 汪劲松, "弹性变形对仿人机器人步态规划的影响分析", 机床与液压, Vol. 185, No. 5, pp. 19-21, 2003
  46. 赵建东, 邵黎君, 徐凯, 刘莉 and 陈恳, "基于CAN总线的仿人机器人关节伺服控制系统研究", 机器人, Vol. 24, No. 5, pp. 421-426, 2002
  47. 杨东超, 徐凯, 刘莉, and 陈恳, "利用3DS MAX实现拟人机器人动画仿真", 机械设计与制造, Vol. 2002, No. 4, pp. 48-49, 2002


Conference Paper

  1. Y. Zhang, B. Wu, C. Zhou, and K. Xu, "Automatic Parking for a Surgical Robotic Patient-Side Cart Using Monocular Vision," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-6.
  2. B. Wu, X. Liu, C. Zhu, and K. Xu, "Design and Implementation of a Self-Calibration Method for a Dual-Arm Haptic Device," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 409-414.
  3. Y. Ding, X. Wang, H. Kuang, and K. Xu, "Incorporating Trocar Clearance in the Kinematics of Multi-Backbone Continuum Robots for Single-Port Surgery," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 1757-1762.
  4. X. Wang, Y. Ding, C. Zhou, and K. Xu, "FABRIKc Delta: Extending the FABRIKc Algorithm to Solve the Forward Kinematics of a Continuum Delta Robot," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 2009-2014.
  5. C. Zhou, L. Wang, Y. Zhang, X. Sheng, and K. Xu, "FC-DenseNet-Based Photometric Stereo for Endoscopes with Close-range Non-parallel Light Illumination," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 2159-2164.
  6. Y. Ding, B. Wu, C. Zhu, and K. Xu, "A Novel Electrode Arrangement for Bipolar Electrosurgical Instruments to Reduce Thermal Spread and Tissue Adhesion: A Proof-of-Concept Study," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 2293-2298.
  7. Y. Wang, Y. Zheng, L. Wang, B. Xu, and K. Xu, "Manipulability-Oriented Configuration Transition Control of Continuum Surgical Manipulators Based on Velocity Polytopes," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 533-538. [FULLTEXT]
  8. C. Zhu, Y. Wang, Y. Ding, X. Wang, and K. Xu, "Design and Modeling of a Reloadable Coil-Delivery Instrument for Aneurysm Embolization," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 42-48. [FULLTEXT]
  9. Y. Wang, C. Zhu, Y. Ding, B. Feng, and K. Xu, "Feedforward Neural Network Assisted Configuration Transition Control of Continuum Surgical Manipulators," in International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Shanghai, China, 2021, pp. 617-622. [FULLTEXT]
  10. L. Deng, Z. Wu, Y. Wang, L. Wang, and K. Xu, "Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, 2021, pp. 57-62. [FULLTEXT]
  11. L. Wang, Q. Li, H. Yang, J. Huang, and K. Xu, "A Sample-Based Color Correction Method for Laparoscopic Images," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Asahikawa, Japan, 2020, pp. 446-451. [FULLTEXT]
  12. H. Yang, B. Wu, X. Liu, and K. Xu, "A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, 2020, pp. 350-355. [FULLTEXT] [Best Conference Paper]
  13. X. Liu, B. Wu, Z. Wu, L. Zeng, and K. Xu, "ParaMaster: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, 2020, pp. 375-380. [FULLTEXT]
  14. B. Zhao, L. Zeng, B. Wu, and K. Xu, "A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness," in IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 1847-1853. [FULLTEXT]
  15. Y. Chen, H. Yang, X. Liu, and K. Xu, "Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion," in IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 2400-2406. [FULLTEXT]
  16. Q. Li, H. Yang, Y. Chen, and K. Xu, "Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 1551-1556. [FULLTEXT]
  17. Z. Wu, H. Yang, X. Liu, and K. Xu, "Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 303-308. [FULLTEXT] [Best Paper Finalist]
  18. B. Wu, L. Zeng, Y. Zheng, S. a. Zhang, X. Zhu, and K. Xu, "A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 2433-2438. [FULLTEXT]
  19. Z. Wu, M. Cederle, E. R. Giani, and K. Xu, "Design of a Cable Driven Floating Robotic Arm with Continuum Joints," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 749-754. [FULLTEXT]
  20. L. Zeng, X. Liu, Y. Zheng, and K. Xu, "Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 118-123. [FULLTEXT]
  21. H. Liu, K. Xu, B. Siciliano, and F. Ficuciello, "The MERO Hand: a Mechanically Robust Anthropomorphic Prosthetic Hand Using Novel Compliant Joint," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hong Kong, China, 2019, pp. 126-132. [FULLTEXT]
  22. Y. Chen, S. a. Zhang, L. Zeng, X. Zhu, and K. Xu, "Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback," in IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019, pp. 4416-4421. [FULLTEXT]
  23. S. Zhang, Y. Chen, Q. Li, B. Zhao, and K. Xu, "Kinematic Optimization of a Continuum Surgical Manipulator," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 2069-2074. [FULLTEXT]
  24. B. Zhao, S. Zhang, Z. Wu, Q. Li, and K. Xu, "CombX: Design of a Haptic Device for Teleoperation," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 1969-1974. [FULLTEXT]
  25. T. Dong, Y. Chen, L. Zeng, Z. Liu, and K. Xu, "Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic System," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 1244-1249. [FULLTEXT]
  26. Z. Zhang, Z. Wu, L. Zeng, W. Zhang, and K. Xu, "Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 922-927. [FULLTEXT] [Best Student Paper Finalist]
  27. Z. Liu, Z. Wu, T. Dong, X. Zhu, and K. Xu, "Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 778-783. [FULLTEXT]
  28. B. Zhao, W. Zhang, Z. Zhang, X. Zhu, and K. Xu, "Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 7492-7499. [FULLTEXT]
  29. W. Zhang, Z. Yang, T. Dong, and K. Xu, "FABRIKc: An Efficient Iterative Inverse Kinematics Solver for Continuum Robots," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 346-352. [FULLTEXT]
  30. Z. Yang, X. Zhu, and K. Xu, "Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 748-755. [FULLTEXT]
  31. H. Liu, Z. Zhang, T. Dong, X. Zhu, and K. Xu, "A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 359-364. [FULLTEXT]
  32. K. Xu, Y. Chen, Z. Zhang, S. a. Zhang, N. Xing, and X. Zhu, "An Insertable Low-Cost Continuum Tool for Shape Sensing," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau SAR, China, 2017, pp. 2044-2049. [FULLTEXT]
  33. K. Xu, B. Zhao, S. a. Zhang, Z. Zhang, and N. Xing, "Design of a Haptic Master Device for Teleoperation Applications," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau SAR, China, 2017, pp. 1436-1441. [FULLTEXT]
  34. K. Xu, H. Zhang, J. Zhao, and Z. Dai, "Design of a Robotic Laparoscopic Tool with Modular Actuation," in International Conference on Intelligent Robotics and Applications (ICIRA), Wuhan, China, 2017, pp. 298-310. [FULLTEXT]
  35. K. Xu, B. Liang, Z. Dai, J. Zhao, B. Zhao, H. Liu, L. Xiao, and Y. Sun, "Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures," in International Conference on Intelligent Robotics and Applications (ICIRA), Wuhan, China, 2017, pp. 311-322. [FULLTEXT]
  36. K. Xu, Z. Dai, J. Zhao, and W. Mei, "Dexterity and Functionality Enhancement of the SJTU Unfoldable Robotic System," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Busan, Korea, 2015, pp. 151-157. [FULLTEXT]
  37. K. Xu, H. Liu, Z. Liu, Y. Du, and X. Zhu, "A Single-Actuator Prosthetic Hand Using a Continuum Differential Mechanism," in IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015, pp. 6457-6462. [FULLTEXT]
  38. K. Xu, W. Mei, Z. Yang, L. Han, and X. Zhu, "Design of a Hyper-Redundant Continuum Manipulator for Intra-Cavity Tasks," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014, pp. 380-385. [FULLTEXT]
  39. K. Xu, M. Fu, and J. Zhao, "Design of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014, pp. 53-57. [FULLTEXT]
  40. K. Xu, Y. Wang, and Z. Yang, "Design of a Continuum Wearable Robot for Shoulder Rehabilitation," in International Conference on Intelligent Robotics and Applications (ICIRA), Guangzhou, China, 2014, pp. 364-375. [FULLTEXT]
  41. K. Xu, Z. Dai, B. Feng, and J. Zhao, "Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy," in International Conference on Intelligent Robotics and Applications (ICIRA), Guangzhou, China, 2014, pp. 299-310. [FULLTEXT]
  42. K. Xu, Y. Wang, and Z. Yang, "Design and Preliminary Experimentation of a Continuum Exoskeleton for Self-Provided Bilateral Rehabilitation," in IEEE International Conference on Information and Automation (ICIA), Hailar, Inner Mongolia, China, 2014, pp. 327-332. [FULLTEXT] [Best Conference Paper]
  43. K. Xu, J. Zhao, and Z. Dai, "A Foldable Stereo Vision Unit for Single Port Access Laparoscopy," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 4182-4187. [FULLTEXT]
  44. K. Xu, M. Fu, and J. Zhao, "An Experimental Kinestatic Comparison between Continuum Manipulators with Structural Variations," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 3258-3264.[FULLTEXT]
  45. K. Xu, H. Liu, Y. Du, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies Using a Simple Continuum Mechanism," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 1348-1353. [FULLTEXT]
  46. K. Xu, J. Zhao, and G. Liu, "Synthesis of a Micro Motor Actuated by Remote Resonant Magnetic Fields," in IEEE International Conference on Information and Automation (ICIA), Yinchuan, Ningxia, China, 2013, pp. 331-336. [FULLTEXT] [Best Conference Paper]
  47. K. Xu, Y. Du, H. Liu, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies of an Underactuated Prosthetic Hand," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 463-474. [FULLTEXT]
  48. K. Xu, Y. Wang, and D. Qiu, "Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX)," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 351-362. [FULLTEXT]
  49. K. Xu and G. Liu, "Design of Selectively Controllable Micro Actuators Powered by Remote Resonant Magnetic Fields," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 143-154. [FULLTEXT]
  50. J. Zhao, X. Zheng, M. Zheng, A. J. Shih, and K. Xu, "An Endoscopic Continuum Testbed for Finalizing System Characteristics of a Surgical Robot for NOTES Procedures," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, 2013, pp. 63-70. [FULLTEXT] [Best Student Paper]
  51. K. Xu, J. Zhao, Y. Du, X. Sheng, and X. Zhu, "Design and Postural Synergy Synthesis of a Prosthetic Hand for a Manipulation Task," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, 2013, pp. 56-62. [FULLTEXT]
  52. K. Xu and D. Qiu, "Experimental Design Verification of a Compliant Shoulder Exoskeleton," in IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 3894-3901. [FULLTEXT]
  53. K. Xu, J. Zhao, and A. J. Shih, "Development of an Endoscopic Continuum Robot to Enable Transgastric Surgical Obesity Treatment," in International Conference on Intelligent Robotics and Applications (ICIRA), Montreal, Quebec, Canada, 2012, pp. 589-600. [FULLTEXT]
  54. K. Xu and X. Zheng, "Configuration Comparison for Surgical Robotic Systems Using a Single Access Port and Continuum Mechanisms," in IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, 2012, pp. 3367-3374. [FULLTEXT]
  55. K. Xu, D. Qiu, and N. Simaan, "A Pilot Investigation of Continuum Robots as a Design Alternative for Upper Extremity Exoskeletons," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand, 2011, pp. 656-662. [FULLTEXT]
  56. K. Xu, J. Zhao, J. Geiger, A. J. Shih, and M. Zheng, "Design of an Endoscopic Stitching Device for Surgical Obesity Treatment Using a N.O.T.E.S Approach," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011, pp. 961-966. [FULLTEXT]
  57. J. Ding, K. Xu, R. Goldman, P. K. Allen, D. L. Fowler, and N. Simaan, “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, 2010, pp. 1053-1058. [FULLTEXT]
  58. K. Xu, R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO. USA, 2009, pp. 5546-5552. [FULLTEXT]
  59. J. Zhang, K. Xu, N. Simaan, and S. Manolidis, "A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays," in International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Copenhagen, Sweden, 2006, pp. 33-40. [FULLTEXT]
  60. W. Wei, K. Xu, and N. Simaan, "A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat," in IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Pisa, Italy, 2006, pp. 769-774. [FULLTEXT]
  61. K. Xu and N. Simaan, "Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation," in IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, 2006, pp. 4148-4154. [FULLTEXT]
  62. C. Fu, M. Shuai, K. Xu, J. Zhao, J. Wang, Y. Huang, and K. Chen, "Planning and Control for THBIP-I Humanoid Robot," in IEEE International Conference on Mechatronics and Automation (ICMA), Luoyang, Henan, China, 2006, pp. 1066-1071. [FULLTEXT]
  63. M. Zhao, L. Liu, J. Wang, K. Chen, J. Zhao, and K. Xu, "Control System Design of THBIP-I Humanoid Robot," in IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, USA, 2002, pp. 2253-2258
  64. K. Xu, K. Chen, J. Wang, L. Liu, D. Yang, and J. Zhao, "A New Method of Gait Generation for a Biped Walking Robot," in IEEE-RAS International Conference on Humanoid Robots, Tokyo, Japan, 2001.

Patents

  1. 徐凯, 朱向阳, 阳志雄, 梁博, 赵彬, 陈煜阳, 吴中昊 and 张伟浩, 一种柔性分拣机器人系统, ZL201710329541.2, 2020.7.14
  2. 徐凯, 朱向阳, 刘欢, 张兆宇, 刘增辉, 张慧超, 陈煜阳 and 梁博, 一种半掌假肢手, ZL201611102375.4, 2019.8.9
  3. 徐凯, 朱向阳, 阳志雄, 刘欢, 朱志军, 陈煜阳, 梁博 and 赵彬, 一种模块化高冗余多自由度柔性机械臂系统, ZL201610226875.2, 2018.6.26
  4. 徐凯, 朱向阳, 阳志雄, 刘欢, 朱志军 and 韩亮亮, 一种模块化高冗余多自由度柔性机械臂系统, ZL201610227400.5, 2017.10.10
  5. 徐凯, 戴正晨, 冯波, 赵江然, 阳志雄, 梅务昆 and 郑民华, 手持式可翻展单孔腹腔镜, ZL201410857406.1, 2017.08.11
  6. 徐凯, 朱向阳, 刘欢, 杜宇恒, 刘增辉 and 盛鑫军, 基于连续体差动机构的单电机欠驱动假肢手, A61F2/56, ZL201510246103.0, 2016.10.19
  7. 徐凯, 赵江然, 傅敏霄, 阳志雄, 戴正晨 and 梅务昆, 单孔腹腔镜微创手术机器人系统, A61B17/94, ZL201410206379.1, 2016.04.13
  8. 徐凯, 赵江然, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, ZL201310522345.9, 2016.03.16
  9. 徐凯, 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 一种基于行星齿轮系的欠驱动假肢手系统, A61F2/54, ZL201310643657.5, 2016.01.13
  10. 徐凯, 赵江然, 邱冬, 郑西点, 冯波 and 郑民华, 基于内窥镜的快速缝合机构, A61B17/04, ZL201310290251.3, 2015.07.29
  11. 徐凯, 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 基于连续体传动机构的欠驱动假肢手, A61F2/54, ZL201310687094.X, 2015.07.22
  12. 徐凯, 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 基于流体转换的外骨骼辅助康复治疗系统, A61H1/02, ZL201310290231.6, 2015.04.08
  13. 徐凯, 朱向阳, 汪友, 赵江然, 刘国庆, 傅敏宵 and 阳志雄, 自助式双侧同步外骨骼康复机构, A61H1/00, ZL201310627763.4, 2015.03.18
  14. 徐凯, 赵江然, 郑西点, 邱冬, 冯波 and 郑民华, 内窥镜无创手术系统, A61B17/00, ZL201310290266.X, 2015.03.18
  15. 徐凯, 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 外骨骼辅助康复治疗系统, A61F4/00, ZL201310289862.6, 2015.03.11
  16. 徐凯, 赵江然, 郑西点, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, A61B1/04, ZL201310533434.3, 2015.02.04
  17. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11
  18. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21
  19. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11
  20. Nabil Simaan, Kai Xu, Roger Goldman, Peter Allen, Dennis Fowler, "Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery," U.S. 61/103,415, October 2008.
  21. Nabil Simaan, Kai Xu, "System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots," U.S. 61/147,275, January 2009.

Doctoral Dissertation

  1. Kai Xu, "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in Mechanical Engineering. New York: Columbia University, 2009.
  2. Jiangran Zhao, "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2016.
  3. Huan Liu, "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2017.
  4. Zhixiong Yang, "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2018.
  5. Zhengchen Dai, "Design, Modeling, and Applications of Multi-Backbone Continuum Mechanisms in Manual and Robotic Surgical Tools," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2018.
  6. Zhixiong Yang, "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2018.
  7. Bin Zhao, "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2019.
  8. Zenghui Liu, "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2019.
  9. Shu`an Zhang, "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2020.
  10. Yuyang Chen, "Modeling and Implementation of Continuum Robots with Constant and Variable Curvature for Surgical Applications," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2021.
  11. Zhonghao Wu, "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in Mechanical Engineering. Shanghai: Shanghai Jiao Tong University, 2022.
Retrieved from "http://rii.sjtu.edu.cn/index.php?title=Publications"
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