http://rii.sjtu.edu.cn/index.php?feed=atom&target=Rii&title=Special%3AContributions%2FRiiRii - User contributions [en]2026-04-24T07:31:42ZFrom RiiMediaWiki 1.16.0http://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2024-04-06T05:44:03Z<p>Rii: </p>
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<div>===Journal Publications===<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
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====Conference Paper====<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# 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>]] <br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.<br />
# '''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.<br />
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2024-04-06T02:21:00Z<p>Rii: </p>
<hr />
<div>===Journal Publications===<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
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<br />
====Conference Paper====<br />
# 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.<br />
# 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>]]<br />
# 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>]] <br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.<br />
# '''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.<br />
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2024-04-05T06:28:01Z<p>Rii: /* Conference Paper */</p>
<hr />
<div>===Journal Publications===<br />
# 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. Early Access, pp. 1-12, 2021. [[media:TMech2021.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
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====Conference Paper====<br />
# 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.<br />
# 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>]]<br />
# 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>]] <br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.<br />
# '''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.<br />
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=Jiangran2011Jiangran20112023-07-12T05:35:45Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Jiangran2011.jpg]]<br />
|Jiangran Zhao （赵江然）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|zjr318@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Beijing Surgerii Tech. Co., Ltd.'''<br />
* System Manager<br />
<br/><br />
|'''北京术锐技术有限公司'''<br />
* 系统算法经理<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2016' Doctor of Philosophy, UM-SJTU Joint Institute<br />
* 2011' Bachelor of Science, UM-SJTU Joint Institute<br />
<br/><br />
|'''上海交通大学'''<br />
* 2016年获密西根学院博士学位<br />
* 2011年获密西根学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2010' National Scholarship for Encouragement<br />
* 2007-2010' Dean’s List of UM-SJTU Joint Institute (6 times)<br />
* 2010' Academic Excellence Scholarship, Shanghai Jiao Tong University<br />
* 2009' Academic Excellence Scholarship, Shanghai Jiao Tong University<br />
* 2008' Academic Excellence Scholarship, Shanghai Jiao Tong University<br />
<br/><br />
|<br />
* 2010年获国家励志奖学金<br />
* 2007-2010年获密西根学院院长奖6次<br />
* 2010年获上海交通大学优秀学业奖学金<br />
* 2009年获上海交通大学优秀学业奖学金<br />
* 2008年获上海交通大学优秀学业奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* An endoscopic robotic surgical system<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 机器人辅助内窥镜无创手术系统<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
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<div></div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2022-06-06T04:04:17Z<p>Rii: /* Journal Publications */</p>
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<div>===Journal Publications===<br />
# 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. Early Access, pp. 1-12, 2021. [[media:TMech2021.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
<br />
<br />
====Conference Paper====<br />
# 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>]]<br />
# 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>]] <br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.<br />
# '''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.<br />
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2022-06-06T03:53:31Z<p>Rii: /* Journal Publications */</p>
<hr />
<div>===Journal Publications===<br />
# 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. Early Access, pp. 1-12, 2021. [[media:TMech2021.Chen.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
<br />
<br />
====Conference Paper====<br />
# 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>]]<br />
# 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>]] <br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''Bin Zhao''', "Design, Modeling, and Implementations of Continuum Robots with Variable Stiffness and Wrench Sensing," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Zenghui Liu''', "Design and Grasp Planning of Synergy-Based Anthropomorphic Robotic Hands," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2019.<br />
# '''Shu`an Zhang''', "Design, Optimization and Implementation of a Modular Continuum Surgical Platform," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2020.<br />
# '''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.<br />
# '''Zhonghao Wu''', "Modularization, Optimization, and Implementation towards Continuum Robotic Surgical Platforms," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2022.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2022-06-06T01:04:03Z<p>Rii: /* Journal Publications */</p>
<hr />
<div>===Journal Publications===<br />
# Plus<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# Z. Yang, B. Zhao, B. Liang, X. Zhu, and '''K. Xu''', "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," ''Assembly Automation'', Vol. Accepted, 2019. [[media:AA2019.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
<br />
<br />
====Conference Paper====<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation. <span style="color:blue; background-color:yellow">[Best Conference Paper]</span><br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=Xu2018Xu20182021-06-21T09:33:16Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Xu2018.jpg]]<br />
|Xu Liu （刘旭）<br />
|-<br />
|Doctoral Student<br />
|-<br />
|RM 301, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|xu.liu@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2024' Doctor of Philosophy (expected), School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2018' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2024年预计获机械与动力工程学院博士学位<br />
'''武汉大学'''<br />
* 2018年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2018' Excellent graduates, WuHan University<br />
* 2017' Third Class Scholarship, WuHan University<br />
* 2016' National Scholarship<br />
* 2015' First Class Scholarship, WuHan University<br />
<br/><br />
|<br />
* 2018年获武汉大学优秀毕业生<br />
* 2017年获武汉大学丙等奖学金<br />
* 2016年获国家奖学金<br />
* 2015年获武汉大学甲等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic system for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Xu2018Xu20182021-06-21T06:05:18Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Xu2018.jpg]]<br />
|Xu Liu （刘旭）<br />
|-<br />
|Doctoral Student<br />
|-<br />
|RM 301, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|xu.liu@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2024' Master of Science (expected), School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2018' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2024年预计获机械与动力工程学院硕士学位<br />
'''武汉大学'''<br />
* 2018年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2018' Excellent graduates, WuHan University<br />
* 2017' Third Class Scholarship, WuHan University<br />
* 2016' National Scholarship<br />
* 2015' First Class Scholarship, WuHan University<br />
<br/><br />
|<br />
* 2018年获武汉大学优秀毕业生<br />
* 2017年获武汉大学丙等奖学金<br />
* 2016年获国家奖学金<br />
* 2015年获武汉大学甲等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic system for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Xu2018Xu20182021-06-21T06:03:56Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Xu2018.jpg]]<br />
|Xu Liu （刘旭）<br />
|-<br />
|Master Student<br />
|-<br />
|RM 301, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|xu.liu@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2024' Master of Science (expected), School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2018' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2024年预计获机械与动力工程学院硕士学位<br />
'''武汉大学'''<br />
* 2018年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2018' Excellent graduates, WuHan University<br />
* 2017' Third Class Scholarship, WuHan University<br />
* 2016' National Scholarship<br />
* 2015' First Class Scholarship, WuHan University<br />
<br/><br />
|<br />
* 2018年获武汉大学优秀毕业生<br />
* 2017年获武汉大学丙等奖学金<br />
* 2016年获国家奖学金<br />
* 2015年获武汉大学甲等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* Cable-driven hyper-redundant robot<br />
|<br />
* 绳索驱动的超冗余机械臂<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=PeoplePeople2021-06-21T06:03:28Z<p>Rii: </p>
<hr />
<div>===Laboratory Director===<br />
{| border="1" width="120px" style="text-align:center;" cellpadding="10"<br />
|[[File:KaiXu.jpg|link=KaiXu]]<br />
|-<br />
|[[KaiXu|Kai Xu]]<br />
|}<br />
<br />
<br />
===Doctoral Students===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2016<br />
|'''Class 2018<br />
|'''Class 2019<br />
|'''Class 2020<br />
|'''Class 2020<br />
|-<br />
|[[File:Zhonghao2016.jpg|link=Zhonghao2016]]<br />
|[[File:Baibo2018.jpg|link=Baibo2018]]<br />
|[[File:Longfei2019.jpg|link=Longfei2019]]<br />
|[[File:Xu2018.jpg|link=Xu2018]]<br />
|[[File:Xiang2020.jpg|link=Xiang2020]]<br />
|-<br />
|[[Zhonghao2016|Zhonghao Wu]]<br />
|[[Baibo2018|Baibo Wu]]<br />
|[[Longfei2019|Longfei Wang]]<br />
|[[Xu2018|Xu Liu]]<br />
|[[Xiang2020|Xiang Wang]]<br />
|-<br />
|'''Class 2021<br />
|'''Class 2021<br />
|-<br />
|[[File:People_ICON.jpg|link=Chunjie2021]]<br />
|[[File:People_ICON.jpg|link=Haomin2021]]<br />
|-<br />
|[[Chunjie2021|Chunjie Xia]]<br />
|[[Haomin2021|Haomin Kuang]]<br />
|}<br />
<br />
<br />
===Master Students===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2019<br />
|'''Class 2019<br />
|'''Class 2020<br />
|'''Class 2020<br />
|'''Class 2021<br />
|-<br />
|[[File:Yifan2019.jpg|link=Yifan2019]]<br />
|[[File:Lifei2019.jpg|link=Lifei2019]]<br />
|[[File:Yue2020.jpg|link=Yue2020]]<br />
|[[File:Chuanxiang2020.jpg|link=Chuanxiang2020]]<br />
|[[File:People_ICON.jpg|link=Chang2021]]<br />
|-<br />
|[[Yifan2019|Yifan Wang]]<br />
|[[Lifei2019|Lifei Deng]]<br />
|[[Yue2020|Yue Ding]]<br />
|[[Chuanxiang2020|Chuanxiang Zhu]]<br />
|[[Chang2021|Chang Zhou]]<br />
|-<br />
|'''Class 2021<br />
|-<br />
|[[File:People_ICON.jpg|link=Yulin2021]]<br />
|-<br />
|[[Yulin2021|Yulin Zhang]]<br />
|}<br />
<br />
<br />
===Doctoral Alumni===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2011<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2014<br />
|-<br />
|[[File:Jiangran2011.jpg|link=Jiangran2011]]<br />
|[[File:Huan2013.jpg|link=Huan2013]]<br />
|[[File:Zhixiong2013.jpg|link=Zhixiong2013]]<br />
|[[File:Zhengchen2013.jpg|link=Zhengchen2013]]<br />
|[[File:Bin2014.jpg|link=Bin2014]]<br />
|-<br />
|[[Jiangran2011|Jiangran Zhao]]<br />
|[[Huan2013|Huan Liu]]<br />
|[[Zhixiong2013|Zhixiong Yang]]<br />
|[[Zhengchen2013|Zhengchen Dai]]<br />
|[[Bin2014|Bin Zhao]]<br />
|-<br />
|'''Class 2014<br />
|'''Class 2015<br />
|'''Class 2015<br />
|-<br />
|[[File:Zenghui2014.jpg|link=Zenghui2014]]<br />
|[[File:Yuyang2015.jpg|link=Yuyang2015]]<br />
|[[File:Shuan2015.jpg|link=Shuan2015]]<br />
|-<br />
|[[Zenghui2014|Zenghui Liu]]<br />
|[[Yuyang2015|Yuyang Chen]]<br />
|[[Shuan2015|Shu'an Zhang]]<br />
|}<br />
<br />
<br />
===Master Alumni===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2010<br />
|'''Class 2010<br />
|'''Class 2011<br />
|'''Class 2012<br />
|'''Class 2012<br />
|-<br />
|[[File:Dong2010.jpg|link=Dong2010]]<br />
|[[File:Xidian2010.jpg|link=Xidian2010]]<br />
|[[File:Guoqing2011.jpg|link=Guoqing2011]]<br />
|[[File:Minxiao2012.jpg|link=Minxiao2012]]<br />
|[[File:You2012.jpg|link=You2012]]<br />
|-<br />
|[[Dong2010|Dong Qiu]]<br />
|[[Xidian2010|Xidian Zheng]]<br />
|[[Guoqing2011|Guoqing Liu]]<br />
|[[Minxiao2012|Minxiao Fu]]<br />
|[[You2012|You Wang]]<br />
|-<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2014<br />
|'''Class 2015<br />
|'''Class 2015<br />
|-<br />
|[[File:Yuheng2013.jpg|link=Yuheng2013]]<br />
|[[File:Wukun2013.jpg|link=Wukun2013]]<br />
|[[File:Zhijun2014.jpg|link=Zhijun2014]]<br />
|[[File:Bo2015.jpg|link=Bo2015]]<br />
|[[File:Huichao2015.jpg|link=Huichao2015]]<br />
|-<br />
|[[Yuheng2013|Yuheng Du]]<br />
|[[Wukun2013|Wukun Mei]]<br />
|[[Zhijun2014|Zhijun Zhu]]<br />
|[[Bo2015|Bo Liang]]<br />
|[[Huichao2015|Huichao Zhang]]<br />
|-<br />
|'''Class 2015<br />
|'''Class 2016<br />
|'''Class 2016<br />
|'''Class 2017<br />
|'''Class 2017<br />
|-<br />
|[[File:Zhaoyu2015.jpg|link=Zhaoyu2015]]<br />
|[[File:Tianlai2016.jpg|link=Tianlai2016]]<br />
|[[File:Weihao2016.jpg|link=Weihao2016]]<br />
|[[File:Qi2017.jpg|link=Qi2017]]<br />
|[[File:Lingyun2017.jpg|link=Lingyun2017]]<br />
|-<br />
|[[Zhaoyu2015|Zhaoyu Zhang]]<br />
|[[Tianlai2016|Tianlai Dong]]<br />
|[[Weihao2016|Weihao Zhang]]<br />
|[[Qi2017|Qi Li]]<br />
|[[Lingyun2017|Lingyun Zeng]]<br />
|-<br />
|'''Class 2018<br />
|-<br />
|[[File:Haozhe2018.jpg|link=Haozhe2018]]<br />
|-<br />
|[[Haozhe2018|Haozhe Yang]]<br />
|}</div>Riihttp://rii.sjtu.edu.cn/index.php?title=Xiang2020Xiang20202021-06-21T05:51:21Z<p>Rii: Created page with "{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}} {|border="1" |rowspan="5"|image:Xiang2020.jpg |Xiang Wang （王翔） |- |Doctoral Student |- |RM 304, B2..."</p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Xiang2020.jpg]]<br />
|Xiang Wang （王翔）<br />
|-<br />
|Doctoral Student<br />
|-<br />
|RM 304, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|keith.wang@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2024' Doctor of Philosophy (expected), School of Mechanical Engineering<br />
'''Tongji University'''<br />
* 2020' Master of Science, School of Mechanical Engineering<br />
'''Tongji University'''<br />
* 2017' Bachelor of Science, School of Mechanical Engineering<br />
<br/><br />
|'''上海交通大学'''<br />
* 2024年预计获机械与动力工程学院博士学位<br />
'''同济大学'''<br />
* 2020年获机械与能源工程学院硕士学位<br />
'''同济大学'''<br />
* 2017年获机械与能源工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2019' Level-B Scholarship of Excellence, Tongji University<br />
* 2017' Second prize, Tongji University Creative Robot Competition<br />
* 2016' Second prize, Tongji University Creative Robot Competition<br />
* 2015' First prize, Tongji University Creative Robot Competition<br />
* 2015' First Prize, Shanghai Brain Olympic Games for College Students<br />
<br/><br />
|<br />
* 2019年获同济大学二等学业奖学金<br />
* 2017年获同济大学创意机器人比赛二等奖<br />
* 2016年获同济大学创意机器人比赛二等奖<br />
* 2015年获同济大学创意机器人比赛一等奖<br />
* 2015年获上海市大学生头脑奥林匹克比赛一等奖<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic system for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Yue2020Yue20202021-06-21T05:38:48Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Yue2020.jpg]]<br />
|Yue Ding （丁跃）<br />
|-<br />
|Master Student<br />
|-<br />
|RM 304, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|dingyue2020@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2023' Master of Science (expected), School of Mechanical Engineering<br />
|'''上海交通大学'''<br />
* 2023年预计获机械与动力工程学院硕士学位<br />
|-<br />
|'''Dalian University of Technology'''<br />
* 2020' Bachelor of Science, School of Mechanical Engineering<br />
<br/><br />
|'''大连理工大学'''<br />
* 2020年获机械工程学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2020' Excellent graduates, DUT<br />
* 2018' HIWIN Scholarship<br />
* 2018' First Class Scholarship, DUT<br />
<br/><br />
|<br />
* 2020年获大连理工大学优秀毕业生<br />
* 2018年获HIWIN奖学金<br />
* 2018年获大连理工大学一等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Yue2020Yue20202021-06-21T04:16:13Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Chuanxiang2020.jpg]]<br />
|Chuanxiang Zhu （朱传祥）<br />
|-<br />
|Master Student<br />
|-<br />
|RM 304, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|zcx_sjtu@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2023' Master of Science (expected), School of Mechanical Engineering<br />
|'''上海交通大学'''<br />
* 2023年预计获机械与动力工程学院硕士学位<br />
|-<br />
|'''Northwestern Polytechnical University'''<br />
* 2020' Bachelor of Engineering, School of Mechanical Engineering<br />
<br/><br />
|'''西北工业大学'''<br />
* 2020年获机电学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2020' Excellent Graduates, NPU<br />
* 2020' Excellent Undergraduate Graduation Design, NPU<br />
* 2019' Second Prize, Scholarship of AVIC<br />
* 2019'First Class Scholarship, NPU<br />
* 2019'Excellent Student, NPU<br />
* 2018'Second Prize, Scholarship of AVIC<br />
* 2018'First Class Scholarship, NPU<br />
* 2018'Excellent Student, NPU<br />
<br/><br />
|<br />
* 2020年获西北工业大学优秀毕业生<br />
* 2020年获西北工业大学优秀本科毕业设计<br />
* 2019年获航空工业二等奖学金<br />
* 2019年获西北工业大学一等奖学金<br />
* 2019年获西北工业大学校优秀学生<br />
* 2018年获航空工业二等奖学金<br />
* 2018年获西北工业大学一等奖学金<br />
* 2018年获西北工业大学校优秀学生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Chuanxiang2020Chuanxiang20202021-06-21T04:15:28Z<p>Rii: Created page with "{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}} {|border="1" |rowspan="5"|image:Chuanxiang2020.jpg |Chuanxiang Zhu （朱传祥） |- |Master Student |- |..."</p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Chuanxiang2020.jpg]]<br />
|Chuanxiang Zhu （朱传祥）<br />
|-<br />
|Master Student<br />
|-<br />
|RM 304, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|zcx_sjtu@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2023' Master of Science (expected), School of Mechanical Engineering<br />
|'''上海交通大学'''<br />
* 2023年预计获机械与动力工程学院硕士学位<br />
|-<br />
|'''Northwestern Polytechnical University'''<br />
* 2020' Bachelor of Engineering, School of Mechanical Engineering<br />
<br/><br />
|'''西北工业大学'''<br />
* 2020年获机电学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2020' Excellent Graduates, NPU<br />
* 2020' Excellent Undergraduate Graduation Design, NPU<br />
* 2019' Second Prize, Scholarship of AVIC<br />
* 2019'First Class Scholarship, NPU<br />
* 2019'Excellent Student, NPU<br />
* 2018'Second Prize, Scholarship of AVIC<br />
* 2018'First Class Scholarship, NPU<br />
* 2018'Excellent Student, NPU<br />
<br/><br />
|<br />
* 2020年获西北工业大学优秀毕业生<br />
* 2020年获西北工业大学优秀本科毕业设计<br />
* 2019年获航空工业二等奖学金<br />
* 2019年获西北工业大学一等奖学金<br />
* 2019年获西北工业大学校优秀学生<br />
* 2018年获航空工业二等奖学金<br />
* 2018年获西北工业大学一等奖学金<br />
* 2018年获西北工业大学校优秀学生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Yue2020Yue20202021-06-21T04:06:45Z<p>Rii: Created page with "{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}} {|border="1" |rowspan="5"|image:Lifei2019.jpg |Lifei Deng （邓力飞） |- |Master Student |- |RM 304, B..."</p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Lifei2019.jpg]]<br />
|Lifei Deng （邓力飞）<br />
|-<br />
|Master Student<br />
|-<br />
|RM 304, B2 BLDG, School of Mechanical Engineering<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|deng_lifei@163.com<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2022' Master of Science (expected), School of Mechanical Engineering<br />
* 2019' Bachelor of Science, School of Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2022年预计获机械与动力工程学院硕士学位<br />
* 2019年获机械与动力工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2018' UAES Scholarship<br />
* 2017' Level-C Scholarship of Excellence, Shanghai Jiao Tong University<br />
* 2017' Tri-Excellent Student, Shanghai Jiao Tong University<br />
<br/><br />
|<br />
* 2018年获联合汽车电子奖学金<br />
* 2017年获上海交通大学C等奖学金<br />
* 2017年获上海交通大学三好学生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=File:Yue2020.jpgFile:Yue2020.jpg2021-06-21T01:05:21Z<p>Rii: </p>
<hr />
<div></div>Riihttp://rii.sjtu.edu.cn/index.php?title=File:Xiang2020.jpgFile:Xiang2020.jpg2021-06-21T01:03:01Z<p>Rii: </p>
<hr />
<div></div>Riihttp://rii.sjtu.edu.cn/index.php?title=File:Chuanxiang2020.jpgFile:Chuanxiang2020.jpg2021-06-21T01:00:54Z<p>Rii: </p>
<hr />
<div></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Shuan2015Shuan20152021-06-21T00:53:09Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Shuan2015.jpg]]<br />
|Shu'an Zhang （张树桉）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|shuan.zhang@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''KLA-Tencor Corp'''<br />
* Mechanical Engineer<br />
<br/><br />
|'''科磊半导体设备有限公司'''<br />
* 机械工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Doctor of Philosophy, UM-SJTU Joint Institute<br />
* 2015' Bachelor of Science, School of Mechanical Engineering<br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年获密西根学院博士学位<br />
* 2015年获机械与动力工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014' Tri-Excellent Student, Shanghai Jiao Tong University<br />
* 2014' Level-B Scholarship of Excellence, Shanghai Jiao Tong University<br />
* 2013' Tri-Excellent Student, Shanghai Jiao Tong University<br />
* 2013' Level-B Scholarship of Excellence, Shanghai Jiao Tong University<br />
* 2013' Second Prize, Li-Tianhe Scholarship, Shanghai Jiao Tong University <br />
* 2013' National Endeavor Fellowship<br />
* 2012' Level-C Scholarship of Excellence, Shanghai Jiao Tong University<br />
* 2012' Tri-Excellent Student, Shanghai Jiao Tong University<br />
<br/><br />
|<br />
* 2014年获上海交通大学三好学生<br />
* 2014年获上海交通大学B等优秀奖学金<br />
* 2013年获上海交通大学机动学院三好学生<br />
* 2013年获上海交通大学B等优秀奖学金<br />
* 2013年获上海交通大学李天和二等奖学金<br />
* 2013年获国家励志奖学金<br />
* 2012年获上海交通大学C等优秀奖学金<br />
* 2012年获上海交通大学机动学院三好学生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* An endoscopic robotic surgical system<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 机器人辅助内窥镜无创手术系统<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Yuyang2015Yuyang20152021-06-21T00:49:16Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Yuyang2015.jpg]]<br />
|Yuyang Chen （陈煜阳）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|yuyangchen@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Surgerii (Shanghai) Technology, Co., Ltd'''<br />
* Algorithm Software Engineer <br />
<br/><br />
|'''术锐（上海）科技有限公司'''<br />
* 算法软件工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2021' Doctor of Philosophy, UM-SJTU Joint Institute <br />
'''Zhejiang University'''<br />
* 2015' Bachelor of Science, Department of Mechanical Engineering<br />
<br/><br />
|'''上海交通大学'''<br />
* 2021年获密西根学院博士学位 <br />
'''浙江大学'''<br />
* 2015年获机械工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014’ National Scholarship, Zhejiang University<br />
* 2014’ First Prize, Excellent Student, Zhejiang University<br />
* 2014’ Tri-Excellent Student, Zhejiang University<br />
* 2013’ Third Prize, Excellent Student, Zhejiang University<br />
* 2013’ Tri-Excellent Student, Zhejiang University<br />
* 2012’ Second Prize, Excellent Academic Performances, Zhejiang University<br />
<br/><br />
|<br />
* 2014年获浙江大学国家奖学金<br />
* 2014年获浙江大学优秀学生一等奖学金<br />
* 2014年浙江大学三好学生<br />
* 2013年获浙江大学优秀学生三等奖学金<br />
* 2013年浙江大学三好学生<br />
* 2012年获浙江大学学业优秀二等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* An endoscopic robotic arm for intracavity inspection<br />
|<br />
* 深腔检测的冗余内窥机械臂<br />
|-<br />
! width="480"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Yuyang2015Yuyang20152021-06-21T00:48:44Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Yuyang2015.jpg]]<br />
|Yuyang Chen （陈煜阳）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|yuyangchen@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Surgerii (Shanghai) Technology, Co., Ltd'''<br />
* Algorithm Software Engineer <br />
<br/><br />
|'''术锐(上海)科技有限公司'''<br />
* 算法软件工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2021' Doctor of Philosophy, UM-SJTU Joint Institute <br />
'''Zhejiang University'''<br />
* 2015' Bachelor of Science, Department of Mechanical Engineering<br />
<br/><br />
|'''上海交通大学'''<br />
* 2021年获密西根学院博士学位 <br />
'''浙江大学'''<br />
* 2015年获机械工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014’ National Scholarship, Zhejiang University<br />
* 2014’ First Prize, Excellent Student, Zhejiang University<br />
* 2014’ Tri-Excellent Student, Zhejiang University<br />
* 2013’ Third Prize, Excellent Student, Zhejiang University<br />
* 2013’ Tri-Excellent Student, Zhejiang University<br />
* 2012’ Second Prize, Excellent Academic Performances, Zhejiang University<br />
<br/><br />
|<br />
* 2014年获浙江大学国家奖学金<br />
* 2014年获浙江大学优秀学生一等奖学金<br />
* 2014年浙江大学三好学生<br />
* 2013年获浙江大学优秀学生三等奖学金<br />
* 2013年浙江大学三好学生<br />
* 2012年获浙江大学学业优秀二等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* An endoscopic robotic arm for intracavity inspection<br />
|<br />
* 深腔检测的冗余内窥机械臂<br />
|-<br />
! width="480"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Zenghui2014Zenghui20142021-06-21T00:41:55Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Zenghui2014.jpg]]<br />
|Zenghui Liu （刘增辉）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|liuzenghui@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''AECC Commercial Aircraft Engine Co., Ltd'''<br />
* Senior Engineer for Assembly<br />
<br/><br />
|'''中国航发商用航空发动机有限责任公司'''<br />
* 装配高级工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Doctor of Philosophy, UM-SJTU Joint Institute <br />
'''Zhejiang University'''<br />
* 2014' Bachelor of Science, Department of Mechanical Engineering<br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年获密西根学院博士学位 <br />
'''浙江大学'''<br />
* 2014年获机械工程系学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014’ Excellent Graduates, Zhejiang University <br />
* 2013' Excellent Student Leader, Zhejiang University <br />
* 2013' Third Prize, Excellent Academic Performances, Zhejiang University<br />
* 2013' Tri-Excellent Student, Zhejiang University<br />
* 2012' Third Prize, Excellent Academic Performances, Zhejiang University<br />
* 2012' Tri-Excellent Student, Zhejiang University<br />
* 2011' Third Prize, Excellent Academic Performances, Zhejiang University<br />
* 2011' Tri-Excellent Student, Zhejiang University<br />
<br/><br />
|<br />
* 2014年浙江大学优秀毕业生 <br />
* 2013年获浙江大学优秀学生干部奖<br />
* 2013年获浙江大学学业优秀三等奖学金 <br />
* 2013年浙江大学三好学生 <br />
* 2012年获浙江大学学业优秀三等奖学金 <br />
* 2012年浙江大学三好学生<br />
* 2011年获浙江大学学业优秀三等奖学金 <br />
* 2011年浙江大学三好学生 <br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* An underactuated prosthetic hand based on postural synergies<br />
|<br />
* 基于指间协同的欠驱动假肢手<br />
|-<br />
! width="480"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Bin2014Bin20142021-06-21T00:38:41Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Bin2014.jpg]]<br />
|Bin Zhao （赵彬）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|zhaobin2014@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Shanghai Huawei Technologies Co., Ltd'''<br />
* Senior Engineer<br />
<br/><br />
|'''上海华为技术有限公司'''<br />
* 高级工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2019' Doctor of Philosophy, UM-SJTU Joint Institute<br />
'''Xi'an Jiao Tong University'''<br />
* 2014' Bachelor of Science, School of Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2019年获密西根学院博士学位<br />
'''西安交通大学'''<br />
* 2014年获机械工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014' First prize, National Mechanical Innovation Design Competition<br />
* 2013' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2012' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2012' National Scholarship for Encouragement <br />
* 2012' Third prize, Mathematics Modeling Contest, Xi'an Jiao Tong University<br />
* 2011' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2011' First prize, the Shenyang Machine Scholarship, Xi'an Jiao Tong University<br />
<br/><br />
|<br />
* 2014年获全国机械创新设计大赛一等奖<br />
* 2013年获西安交通大学文治书院优秀学生奖学金<br />
* 2012年获西安交通大学文治书院优秀学生奖学金<br />
* 2012年获国家励志奖学金<br />
* 2012年获西安交通大学数学建模三等奖<br />
* 2011年获西安交通大学文治书院优秀学生奖学金<br />
* 2011年获西安交通大学沈阳机床一等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Bin2014Bin20142021-06-21T00:37:43Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Bin2014.jpg]]<br />
|Bin Zhao （赵彬）<br />
|-<br />
|Doctor of Philosophy<br />
|-<br />
|UM-SJTU Joint Institute Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|zhaobin2014@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Shanghai Huawei Technologies Co., Ltd'''<br />
* Senior Engineer<br />
<br/><br />
|'''上海华为技术有限公司'''<br />
* 高级工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2019' Doctor of Philosophy (expected), UM-SJTU Joint Institute<br />
'''Xi'an Jiao Tong University'''<br />
* 2014' Bachelor of Science, School of Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2019年预计获密西根学院博士学位<br />
'''西安交通大学'''<br />
* 2014年获机械工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2014' First prize, National Mechanical Innovation Design Competition<br />
* 2013' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2012' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2012' National Scholarship for Encouragement <br />
* 2012' Third prize, Mathematics Modeling Contest, Xi'an Jiao Tong University<br />
* 2011' Excellent Student of Wenzhi College, Xi'an Jiao Tong University<br />
* 2011' First prize, the Shenyang Machine Scholarship, Xi'an Jiao Tong University<br />
<br/><br />
|<br />
* 2014年获全国机械创新设计大赛一等奖<br />
* 2013年获西安交通大学文治书院优秀学生奖学金<br />
* 2012年获西安交通大学文治书院优秀学生奖学金<br />
* 2012年获国家励志奖学金<br />
* 2012年获西安交通大学数学建模三等奖<br />
* 2011年获西安交通大学文治书院优秀学生奖学金<br />
* 2011年获西安交通大学沈阳机床一等奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Lingyun2017Lingyun20172021-06-21T00:31:29Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Lingyun2017.jpg]]<br />
|Lingyun Zeng （曾凌云）<br />
|-<br />
|Master of Science <br />
|-<br />
|School of Mechanical Engineering Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|me_maxqi@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''King's College London'''<br />
* PhD Student<br />
<br/><br />
|'''伦敦国王学院'''<br />
* 博士研究生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Master of Science, School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2017' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年获机械与动力工程学院硕士学位<br />
'''武汉大学'''<br />
* 2017年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2017' Third prize, National College Robocon<br />
* 2016' Second prize, National College Conpetition on Energy Saving<br />
* 2016' National Scholarship for Encouragement<br />
* 2015' Special award, National Virtual Instrument Competition<br />
* 2015' National Scholarship for Encouragement<br />
* 2014' First prize, National College Mechanical Design Competition<br />
* 2014' Third prize, Hubei Province College Mathematics Competition <br />
<br/><br />
|<br />
* 2017年获全国大学生机器人大赛Robocon三等奖<br />
* 2016年获全国大学生节能减排竞赛二等奖<br />
* 2016年获国家励志奖学金<br />
* 2015年获全国虚拟仪器大赛特别鼓励奖<br />
* 2015年获国家励志奖学金<br />
* 2014年获全国大学生机械创新设计大赛一等奖<br />
* 2014年获湖北省大学生数学竞赛三等奖<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* Cable-driven hyper-redundant robot<br />
|<br />
* 绳索驱动的超冗余机械臂<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Haozhe2018Haozhe20182021-06-21T00:31:10Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Haozhe2018.jpg]]<br />
|Haozhe Yang （杨皓哲）<br />
|-<br />
|Master of Science <br />
|-<br />
|School of Mechanical Engineering Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|silence1004@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''Netease Interactive Entertainment Co., Limited'''<br />
* Software Engineer<br />
<br/><br />
|'''上海网易互动娱乐有限公司'''<br />
* 软件工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2021' Master of Science, School of Mechanical Engineering<br />
* 2018' Bachelor of Science, School of Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2021年获机械与动力工程学院硕士学位<br />
* 2018年获机械与动力工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2018' Excellent Graduation Project, Shanghai Jiao Tong University<br />
* 2016' Scholarship of Lida Yi & Yongling Liu<br />
* 2015' Scholarship of SAIC-GM-Wuling Automobile<br />
* 2015' Second Prize, Shanghai Mathematics Competition<br />
<br/><br />
|<br />
* 2018年获上海交通大学毕业设计优胜奖<br />
* 2016年获亿利达刘永龄奖学金<br />
* 2015年获“上汽通用五菱”奖学金<br />
* 2015年获上海市大学生数学竞赛二等奖<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Lingyun2017Lingyun20172021-06-21T00:28:21Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Lingyun2017.jpg]]<br />
|Lingyun Zeng （曾凌云）<br />
|-<br />
|Master of Science <br />
|-<br />
|School of Mechanical Engineering Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|me_maxqi@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''King's College London'''<br />
* PhD Student<br />
<br/><br />
|'''伦敦国王学院'''<br />
* 博士研究生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Master of Science (expected), School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2017' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年预计获机械与动力工程学院硕士学位<br />
'''武汉大学'''<br />
* 2017年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2017' Third prize, National College Robocon<br />
* 2016' Second prize, National College Conpetition on Energy Saving<br />
* 2016' National Scholarship for Encouragement<br />
* 2015' Special award, National Virtual Instrument Competition<br />
* 2015' National Scholarship for Encouragement<br />
* 2014' First prize, National College Mechanical Design Competition<br />
* 2014' Third prize, Hubei Province College Mathematics Competition <br />
<br/><br />
|<br />
* 2017年获全国大学生机器人大赛Robocon三等奖<br />
* 2016年获全国大学生节能减排竞赛二等奖<br />
* 2016年获国家励志奖学金<br />
* 2015年获全国虚拟仪器大赛特别鼓励奖<br />
* 2015年获国家励志奖学金<br />
* 2014年获全国大学生机械创新设计大赛一等奖<br />
* 2014年获湖北省大学生数学竞赛三等奖<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* Cable-driven hyper-redundant robot<br />
|<br />
* 绳索驱动的超冗余机械臂<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Lingyun2017Lingyun20172021-06-21T00:27:41Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Lingyun2017.jpg]]<br />
|Lingyun Zeng （曾凌云）<br />
|-<br />
|Master of Science <br />
|-<br />
|School of Mechanical Engineering Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|me_maxqi&sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''King's College London'''<br />
* PhD Student<br />
<br/><br />
|'''伦敦国王学院'''<br />
* 博士研究生<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Master of Science (expected), School of Mechanical Engineering<br />
'''Wuhan University'''<br />
* 2017' Bachelor of Science, School of Power and Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年预计获机械与动力工程学院硕士学位<br />
'''武汉大学'''<br />
* 2017年获动力与机械学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2017' Third prize, National College Robocon<br />
* 2016' Second prize, National College Conpetition on Energy Saving<br />
* 2016' National Scholarship for Encouragement<br />
* 2015' Special award, National Virtual Instrument Competition<br />
* 2015' National Scholarship for Encouragement<br />
* 2014' First prize, National College Mechanical Design Competition<br />
* 2014' Third prize, Hubei Province College Mathematics Competition <br />
<br/><br />
|<br />
* 2017年获全国大学生机器人大赛Robocon三等奖<br />
* 2016年获全国大学生节能减排竞赛二等奖<br />
* 2016年获国家励志奖学金<br />
* 2015年获全国虚拟仪器大赛特别鼓励奖<br />
* 2015年获国家励志奖学金<br />
* 2014年获全国大学生机械创新设计大赛一等奖<br />
* 2014年获湖北省大学生数学竞赛三等奖<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* Cable-driven hyper-redundant robot<br />
|<br />
* 绳索驱动的超冗余机械臂<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=Qi2017Qi20172021-06-21T00:22:07Z<p>Rii: </p>
<hr />
<div>{{DISPLAYTITLE:<span style="display:none">{{FULLPAGENAME}}</span>}}<br />
{|border="1"<br />
|rowspan="5"|[[image:Qi2017.jpg]]<br />
|Qi Li （李奇）<br />
|-<br />
|Master of Science<br />
|-<br />
|School of Mechanical Engineering Alumni<br />
|-<br />
|Shanghai Jiao Tong University<br />
|-<br />
|liqi362202@sjtu.edu.cn<br />
|}<br />
<br/><br />
{|<br />
!colspan="2" align="left"|<h4>Employment / 就业单位</h4><br />
----<br />
|-<br />
|'''ByteDance'''<br />
* Software Engineer for Special Effects<br />
<br/><br />
|'''字节跳动'''<br />
* 特效软件工程师<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Education / 教育背景</h4><br />
----<br />
|-<br />
|'''Shanghai Jiao Tong University'''<br />
* 2020' Master of Science, School of Mechanical Engineering<br />
* 2017' Bachelor of Science, School of Mechanical Engineering <br />
<br/><br />
|'''上海交通大学'''<br />
* 2020年获机械与动力工程学院硕士学位<br />
* 2017年获机械与动力工程学院学士学位<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4><br />
----<br />
|-<br />
|<br />
* 2017' Excellent Graduates, Shanghai<br />
* 2016' National Scholarship<br />
<br/><br />
|<br />
* 2017年获上海市优秀毕业生<br />
* 2016年获国家奖学金<br />
<br/><br />
|-<br />
!colspan="2" align="left"|<h4>Research Projects / 参与项目</h4><br />
----<br />
|-<br />
|<br />
* A robotic slave for SPA (Single Port Access) surgeries<br />
|<br />
* 单孔腹腔镜手术机器人系统<br />
|-<br />
! width="450"|<br />
|}<br />
<br/><br />
<br/></div>Riihttp://rii.sjtu.edu.cn/index.php?title=PeoplePeople2021-06-21T00:12:13Z<p>Rii: </p>
<hr />
<div>===Laboratory Director===<br />
{| border="1" width="120px" style="text-align:center;" cellpadding="10"<br />
|[[File:KaiXu.jpg|link=KaiXu]]<br />
|-<br />
|[[KaiXu|Kai Xu]]<br />
|}<br />
<br />
<br />
===Doctoral Students===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2016<br />
|'''Class 2018<br />
|'''Class 2019<br />
|'''Class 2020<br />
|'''Class 2020<br />
|-<br />
|[[File:Zhonghao2016.jpg|link=Zhonghao2016]]<br />
|[[File:Baibo2018.jpg|link=Baibo2018]]<br />
|[[File:Longfei2019.jpg|link=Longfei2019]]<br />
|[[File:Xu2018.jpg|link=Xu2018]]<br />
|[[File:Xiang2020.jpg|link=Xiang2020]]<br />
|-<br />
|[[Zhonghao2016|Zhonghao Wu]]<br />
|[[Baibo2018|Baibo Wu]]<br />
|[[Longfei2019|Longfei Wang]]<br />
|[[Xu2018|Xu Liu]]<br />
|[[Xiang2020|Xiang Wang]]<br />
|-<br />
|'''Class 2021<br />
|'''Class 2021<br />
|-<br />
|[[File:Chunjie2021.jpg|link=Chunjie2021]]<br />
|[[File:Haomin2021.jpg|link=Haomin2021]]<br />
|-<br />
|[[Chunjie2021|Chunjie Xia]]<br />
|[[Haomin2021|Haomin Kuang]]<br />
|}<br />
<br />
<br />
===Master Students===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2019<br />
|'''Class 2019<br />
|'''Class 2020<br />
|'''Class 2020<br />
|'''Class 2021<br />
|-<br />
|[[File:Yifan2019.jpg|link=Yifan2019]]<br />
|[[File:Lifei2019.jpg|link=Lifei2019]]<br />
|[[File:Yue2020.jpg|link=Yue2020]]<br />
|[[File:Chuanxiang2020.jpg|link=Chuanxiang2020]]<br />
|[[File:Chang2021.jpg|link=Chang2021]]<br />
|-<br />
|[[Yifan2019|Yifan Wang]]<br />
|[[Lifei2019|Lifei Deng]]<br />
|[[Yue2020|Yue Ding]]<br />
|[[Chuanxiang2020|Chuanxiang Zhu]]<br />
|[[Chang2021|Chang Zhou]]<br />
|-<br />
|'''Class 2021<br />
|-<br />
|[[File:Yulin2021.jpg|link=Yulin2021]]<br />
|-<br />
|[[Yulin2021|Yulin Zhang]]<br />
|}<br />
<br />
<br />
===Doctoral Alumni===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2011<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2014<br />
|-<br />
|[[File:Jiangran2011.jpg|link=Jiangran2011]]<br />
|[[File:Huan2013.jpg|link=Huan2013]]<br />
|[[File:Zhixiong2013.jpg|link=Zhixiong2013]]<br />
|[[File:Zhengchen2013.jpg|link=Zhengchen2013]]<br />
|[[File:Bin2014.jpg|link=Bin2014]]<br />
|-<br />
|[[Jiangran2011|Jiangran Zhao]]<br />
|[[Huan2013|Huan Liu]]<br />
|[[Zhixiong2013|Zhixiong Yang]]<br />
|[[Zhengchen2013|Zhengchen Dai]]<br />
|[[Bin2014|Bin Zhao]]<br />
|-<br />
|'''Class 2014<br />
|'''Class 2015<br />
|'''Class 2015<br />
|-<br />
|[[File:Zenghui2014.jpg|link=Zenghui2014]]<br />
|[[File:Yuyang2015.jpg|link=Yuyang2015]]<br />
|[[File:Shuan2015.jpg|link=Shuan2015]]<br />
|-<br />
|[[Zenghui2014|Zenghui Liu]]<br />
|[[Yuyang2015|Yuyang Chen]]<br />
|[[Shuan2015|Shu'an Zhang]]<br />
|}<br />
<br />
<br />
===Master Alumni===<br />
<br />
{| border="1" width="600px" style="text-align:center;" cellpadding="10"<br />
|'''Class 2010<br />
|'''Class 2010<br />
|'''Class 2011<br />
|'''Class 2012<br />
|'''Class 2012<br />
|-<br />
|[[File:Dong2010.jpg|link=Dong2010]]<br />
|[[File:Xidian2010.jpg|link=Xidian2010]]<br />
|[[File:Guoqing2011.jpg|link=Guoqing2011]]<br />
|[[File:Minxiao2012.jpg|link=Minxiao2012]]<br />
|[[File:You2012.jpg|link=You2012]]<br />
|-<br />
|[[Dong2010|Dong Qiu]]<br />
|[[Xidian2010|Xidian Zheng]]<br />
|[[Guoqing2011|Guoqing Liu]]<br />
|[[Minxiao2012|Minxiao Fu]]<br />
|[[You2012|You Wang]]<br />
|-<br />
|'''Class 2013<br />
|'''Class 2013<br />
|'''Class 2014<br />
|'''Class 2015<br />
|'''Class 2015<br />
|-<br />
|[[File:Yuheng2013.jpg|link=Yuheng2013]]<br />
|[[File:Wukun2013.jpg|link=Wukun2013]]<br />
|[[File:Zhijun2014.jpg|link=Zhijun2014]]<br />
|[[File:Bo2015.jpg|link=Bo2015]]<br />
|[[File:Huichao2015.jpg|link=Huichao2015]]<br />
|-<br />
|[[Yuheng2013|Yuheng Du]]<br />
|[[Wukun2013|Wukun Mei]]<br />
|[[Zhijun2014|Zhijun Zhu]]<br />
|[[Bo2015|Bo Liang]]<br />
|[[Huichao2015|Huichao Zhang]]<br />
|-<br />
|'''Class 2015<br />
|'''Class 2016<br />
|'''Class 2016<br />
|'''Class 2017<br />
|'''Class 2017<br />
|-<br />
|[[File:Zhaoyu2015.jpg|link=Zhaoyu2015]]<br />
|[[File:Tianlai2016.jpg|link=Tianlai2016]]<br />
|[[File:Weihao2016.jpg|link=Weihao2016]]<br />
|[[File:Qi2017.jpg|link=Qi2017]]<br />
|[[File:Lingyun2017.jpg|link=Lingyun2017]]<br />
|-<br />
|[[Zhaoyu2015|Zhaoyu Zhang]]<br />
|[[Tianlai2016|Tianlai Dong]]<br />
|[[Weihao2016|Weihao Zhang]]<br />
|[[Qi2017|Qi Li]]<br />
|[[Lingyun2017|Lingyun Zeng]]<br />
|-<br />
|'''Class 2018<br />
|-<br />
|[[File:Haozhe2018.jpg|link=Haozhe2018]]<br />
|-<br />
|[[Haozhe2018|Haozhe Yang]]<br />
|}</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2021-04-21T13:03:08Z<p>Rii: /* Patents */</p>
<hr />
<div>===Journal Publications===<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# Z. Yang, B. Zhao, B. Liang, X. Zhu, and '''K. Xu''', "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," ''Assembly Automation'', Vol. Accepted, 2019. [[media:AA2019.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
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<br />
====Conference Paper====<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation. <span style="color:blue; background-color:yellow">[Best Conference Paper]</span><br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2021-03-05T08:01:22Z<p>Rii: /* Journal Publications */</p>
<hr />
<div>===Journal Publications===<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# Z. Yang, B. Zhao, B. Liang, X. Zhu, and '''K. Xu''', "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," ''Assembly Automation'', Vol. Accepted, 2019. [[media:AA2019.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
<br />
<br />
====Conference Paper====<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation. <span style="color:blue; background-color:yellow">[Best Conference Paper]</span><br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110457818.2, 2014.06.11<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458252.5, 2014.05.21<br />
# '''徐凯''' and 赵江然, 可控自弯缝针, A61B17/06, ZL201110458251.0, 2013.12.11<br />
# 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.<br />
# 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.<br />
<br />
====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=File:RAL2021.Chen.pdfFile:RAL2021.Chen.pdf2021-03-05T07:59:45Z<p>Rii: </p>
<hr />
<div></div>Riihttp://rii.sjtu.edu.cn/index.php?title=PublicationsPublications2021-03-05T07:55:23Z<p>Rii: /* Journal Publications */</p>
<hr />
<div>===Journal Publications===<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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.<br />
# 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.<br />
# Z. Yang, B. Zhao, B. Liang, X. Zhu, and '''K. Xu''', "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," ''Assembly Automation'', Vol. Accepted, 2019. [[media:AA2019.pdf|<span style="color:red; background-color:#FCDFFF">[FULLTEXT]</span>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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<br />
# '''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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
# 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<br />
<br />
<br />
<br />
====Conference Paper====<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation. <span style="color:blue; background-color:yellow">[Best Conference Paper]</span><br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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, p. Accepted for presentation.<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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><br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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><br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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>]]<br />
# '''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>]]<br />
# 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>]]<br />
# 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<br />
# '''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.<br />
<br />
====Patents====<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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 <br />
# '''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<br />
# '''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<br />
# '''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<br />
# '''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<br />
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====Doctoral Dissertation====<br />
# '''Kai Xu''', "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in ''Mechanical Engineering''. New York: Columbia University, 2009.<br />
# '''Jiangran Zhao''', "Many-backbone Continuum Mechanisms with Structural Variations and Implementataions in Surgical Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2016.<br />
# '''Huan Liu''', "Continuum Mechanisms and Their Applications in Prosthetic Hand Designs," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2017.<br />
# '''Zhixiong Yang''', "Design, Modeling and Implementations of Serial and Parallel Multi-Backbone Continuum Robots," in ''Mechanical Engineering''. Shanghai: Shanghai Jiao Tong University, 2018.<br />
# '''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.</div>Riihttp://rii.sjtu.edu.cn/index.php?title=File:FMD2020.pdfFile:FMD2020.pdf2020-11-16T00:14:45Z<p>Rii: </p>
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