Publications

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Journal Publications

  1. 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]
  2. 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]
  3. 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]
  4. 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]
  5. 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]
  6. 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]
  7. 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]
  8. 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]
  9. 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]
  10. 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]
  11. 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]
  12. 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
  13. 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]
  14. 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]
  15. 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]
  16. 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]
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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. 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, p. Accepted.
  2. 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, p. Accepted.
  3. 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, p. Accepted.
  4. 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, pp. 2044-2049. [FULLTEXT]
  5. 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]
  6. 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]
  7. 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]
  8. 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]
  9. 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]
  10. 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]
  11. 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]
  12. 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]
  13. 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]
  14. 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]
  15. 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]
  16. 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]
  17. 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]
  18. 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]
  19. 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]
  20. 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]
  21. 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]
  22. 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]
  23. 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]
  24. 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]
  25. 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]
  26. 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]
  27. 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]
  28. 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]
  29. 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]
  30. 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]
  31. 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]
  32. 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]
  33. 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]
  34. 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]
  35. 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
  36. 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, 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
  2. 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
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11
  16. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21
  17. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11
  18. 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.
  19. 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.
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