Publications

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Journal Publications

  1. 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]
  2. K. Xu, J. Zhao, and M. Fu, "Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," IEEE/ASME Transactions on Mechatronics, p. Accepted, 2014 [FULLTEXT]
  3. 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]
  4. K. Xu, J. Zhao, D. Qiu, and Y. Wang, "A Pilot Investigation of a Continuum Shoulder Exoskeleton for Anatomy Adaptive Assistances," ASME Journal of Mechanisms and Robotics, Vol. 6, No.4, pp. 041011, Jun 2014 [FULLTEXT]
  5. K. Xu, X. Zheng, and J. Zhao, "Configuration Comparison among Kinematically Optimized Continuum Manipulators for Robotic Surgeries through a Single Access Port," Robotica, p. Accepted, 2014 [FULLTEXT]
  6. 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]
  7. 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]
  8. 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]
  9. 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]
  10. 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]
  11. 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)
  12. 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)
  13. 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)
  14. 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)
  15. 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)
  16. 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)
  17. 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)


Conference Paper

  1. 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, p. Accepted for presentation.
  2. 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, p. Accepted for presentation.
  3. 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, p. Accepted for presentation.
  4. 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, p. Accepted for presentation.
  5. 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]
  6. 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]
  7. 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]
  8. 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]
  9. 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]
  10. 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]
  11. 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]
  12. 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]
  13. 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]
  14. 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]
  15. 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]
  16. 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]
  17. 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]
  18. 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]
  19. Y. Wang, M. v. Loon, C. Spangler, B. L.-J. Tai, J. Z. Moore, K. Xu, and A. J. Shih, "The Needle with Lancet Point – Geometry for Tip Grinding and Tissue Insertion Force," in International Conference on MicroManufacturing, Chicago, IL, USA, 2012, pp. 159-165.
  20. Y. Wang, M. V. Loon, B. L.-J. Tai, K. Xu, and A. J. Shih, "Grinding the Sharp Tip in Thin NiTi and Stainless Steel Wires for Medical Devices," in International Conference on MicroManufacturing, Chicago, IL, USA, 2012, pp. 152-158.
  21. 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]
  22. 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]
  23. 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]
  24. 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]
  25. 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]
  26. 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]
  27. 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]
  28. 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]
  29. 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]
  30. 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
  31. 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.
  32. 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. Kai Xu and J. Zhao, "Suture with a Controllable Bending: Separable Form," Shanghai Jiao Tong University, China 201110458252.5, 2012.
  2. Kai Xu and J. Zhao, "Suture with a Controllable Bending: Tubal Form," Shanghai Jiao Tong University, China 201110458238.5, 2012
  3. Kai Xu and J. Zhao, "Suture with a Controllable Bending: Knotted Form," Shanghai Jiao Tong University, China 201110458251.0, 2012.
  4. Kai Xu and J. Zhao, "Suture with a Controllable Bending: Furcal Form," Shanghai Jiao Tong University, China 201110457818.2, 2012.
  5. 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.
  6. 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.
  7. 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
  8. 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
  9. 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
  10. 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

K. Xu, "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in Mechanical Engineering. New York: Columbia University, 2009.

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