Curriculum Vitae

Dr. Dangxiao Wang

Professor

State Key Lab of Virtual Reality Technology and Systems,

Robotics Institute, Beihang University,

No. 37 Xueyuan Road, Haidian District,

Beijing, P. R. China

Postcode: 100191

Phone: ++86-10-82338273

Email: hapticwang at buaa.edu.cn, hapticwang at 163.com

Research interests

Haptic device, Haptic rendering, Cognitive haptics, Surgical robotics

Education

Ø  2000.9~2004.4  PhD., Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, China

Ø  1997.9~2000.3  Sc. M., College of Astronautics, Northwestern Polytechnic University, Xi’an, China

Ø  1993.9~1997.7  B. S., Department of Mechanical Engineering, Shaanxi Institute of Technology, Shaanxi, China

positions held

Ø  2016.8~ Now    Professor, Beihang University, Beijing, China

Ø  2007.7~ 2016.7  Associate Professor, Beihang University, Beijing, China

Ø  2006.5~2007.6  Assistant Professor, Beihang University, Beijing, China

Ø  2004.5~2006.4  PostDoc, Beihang University, Beijing, China

Visiting Scholar experience

Ø  2018.8~ 2019.2  Visiting Professor, Stanford University, US.

Ø  2017.1~ 2017.2  Visiting Professor, Karolinska Institute, Sweden.

Ø  2012.1~2013.1  Visiting Associate Professor, Univ. of North Carolina at Charlotte, US.

Society Services

Ø  General Chair of AsiaHaptics 2020

Ø  Chair of Executive Committee of IEEE Technical Committee on Haptics (IEEE TCH), 2014.8-2017.12

Ø  Associate Editor of IEEE Transactions on Haptics, 2015.01 – 2018.12

Ø  Guest Editor of IEEE Transactions on Industrial Electronics, 2018.01 –2018.12

Ø  Member of Steering Committee, Asia Haptics, 2014.06 -

Ø  Associate Editor of IEEE World Haptics Conference 2019, Tokyo, Japan.

Ø  Associate Editor of IEEE World Haptics Conference 2017, Munich, Germany.

Ø  Associate Editor of IEEE World Haptics Conference 2015, Chicago, US.

Ø  Associate Editor of IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, US.

Ø  Vice Chair for Publications of Executive Committee of IEEE TCH, 2011.8-2014.8

Ø  International Advisory Committee Member, EuroHaptics Conference 2014, Paris, France

Ø  Program Committee Member, EuroHaptics Conference 2014, Paris, France

Ø  Program Committee Member, Robotics Science and Systems (RSS) 2014, Berkeley, CA, US.

Ø  Publicity Co-Chair and Associate Editor of IEEE World Haptics Conference 2013, April 14~17, 2013, Daejeon, Korea

Ø  Member of International Program Committee, 10th Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS 2013). Lille, France. (https://vriphys2013.inria.fr/committees/)

Ø  Award committee member, IEEE World Haptics Conference 2011 in Istanbul, Turkey, 2011.7

Ø  Senior Member of IEEE Robotics and Automation Society

Ø  Senior Member of Chinese Mechanical Engineering Society

Ø  Senior Member of China Computer Federation (CCF)

Publications

Monograph

1.         D. Wang, J. Xiao, and Y. Zhang, Haptic rendering for fine manipulation, Springer, 2014, ISBN 978-3-662-44949-3. http://www.springer.com/computer/hci/book/978-3-662-44948-6

Journal papers

1.         D. Wang, K. Ohnishi and W. Xu, "Multimodal Haptic Display for Virtual Reality: A Survey", IEEE Transactions on Industrial Electronics, 2020, Vol. 67, No. 01, pp. 610-623

2.         D. Wang, M. Song, A. Naqash, Y. Zheng, W. Xu, and Y. Zhang, Toward Whole-hand Kinesthetic Feedback: A Survey of Force Feedback Gloves, IEEE Transactions on Haptics, VOL. 12, NO. 2, APRIL-JUNE, 2019, pp. 189-204

3.         Z. Wang, D. Wang, Y. Zhang, J. Liu, L.Wen, W. Xu, and Y. Zhang, A Three-Fingered Force Feedback Glove using Fiber reinforced Soft Bending Actuators, IEEE Transactions on Industrial Electronics, 2020, In press

4.         Y. Zhang, D. Wang, Z. Wang, Y. Zhang and J. Xiao, Passive Force-feedback Gloves with Joint-based Variable Impedance Using Layer Jamming, IEEE Transactions on Haptics, In press

5.         R. Chu, Y. Zhang, H. Zhang, W. Xu, J. Ryu, D. Wang, Co-actuation: a Method for Achieving High Stiffness and Low Inertia for Haptic Devices, IEEE Transactions on Haptics, In press

6.         D. Wang, K. Ohnishi, and W. Xu, Novel Emerging Sensing, Actuation, and Control Techniques for Haptic Interaction and Teleoperation. IEEE Transactions on Industrial Electronics, Vol. 67, No. 01, pp. 624-626, January 2020

7.         C. Peng, D. Wang, Y. Zhang, and J. Xiao, "A Visuo-Haptic Attention Training Game With Dynamic Adjustment of Difficulty", IEEE Access, 2019, 7, pp. 68878-68891

8.         Cong Peng, Dangxiao Wang, and Yuru Zhang. Quantifying Differences among Ten Fingers in Force Control Capabilities by a Modified Meyer Model. Symmetry, 2019, 11, 1109; doi:10.3390/sym11091109

9.         D. Wang, T. Li, N. Afzal, et al. Haptics-mediated Approaches for Enhancing Sustained Attention: Framework and Challenges. Sci China Inf Sci, 2020

10.     Y. Zheng, D. Wang, Y. Zhang and W. Xu, Detecting Mind Wandering: An Objective Method via Simultaneous Control of Respiration and Fingertip Pressure. Frontiers in Psychology, 2019, 10:216. doi: 10.3389/fpsyg.2019.00216

11.     D. Wang, Y. Guo, S. Liu, Y. Zhang, W. Xu, J. Xiao. Haptic display for virtual reality: progress and challenges. Virtual Reality & Intelligent Hardware, 2019, 1(2): 136—162

12.     M. Liu, J. Zhang, W. Jia, Q. Chang, S. Shan, Y. Hu, D. Wang, Enhanced Executive Attention Efficiency after Adaptive Force Control Training: Behavioural and Physiological Results, Behavioural Brain Research (2019), https://doi.org/10.1016/j.bbr.2019.03.028

13.     X. Guo, Y. Zhang, D. Wang, L. Lu, J. Jiao, and W. Xu, "The Effect of Applied Normal Force on the Electrovibration," IEEE Transactions on Haptics, 2019, In press

14.     Y. Zheng, D. Wang, Z. Wang, Y. Zhang, Y. Zhang, W. Xu, Design of a Lightweight Force Feedback Glove with a Large Workspace, Engineering (2018), Vol. 4, Issue 6, Dec. 2018, pp. 869-880

15.     J. Jiao, D. Wang, Y. Zhang, D. Cao, Y. Visell, X. Guo, et al., "Detection and Discrimination Thresholds for Haptic Gratings on Electrostatic Tactile Displays," IEEE Transactions on Haptics, pp. 1-1, 2018

16.     D. Wang, C. Peng, N. Afzal, W. Li, D. Wu, Y. Zhang, Localization Performance of Multiple Vibrotactile Cues on Both Arms, IEEE Transactions on Haptics, 2017, PP(99):1-1.

17.     D. Wang, T. Li, G. Yang, Y. Zhang, Effect of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation, IEEE Transactions on Haptics, 2017 Feb 22. doi: 10.1109/TOH.2017.2672549

18.     G. Liu, X. Sun, D. Wang, Y. Liu, and Y. Zhang, Effect of Electrostatic Tactile Feedback on Accuracy and Efficiency of Pan Gestures on Touch Screens, IEEE Transactions on Haptics, 2017, PP(99):1-1.

19.     T. Li, D. Wang, C. Peng, C. Yu, and Y. Zhang, “Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback,” Int. J. Human Computer Studies, vol. 110, pp. 33–44, Oct. 2018.

20.     D. Wang, X. Zhao, Y. Shi, Y. Zhang and J. Xiao, Six Degree-of-Freedom Haptic Simulation of a Stringed Musical Instrument for Triggering Sounds, IEEE Transactions on Haptics, DOI: 10.1109/TOH.2016.2628369

21.     D. Wang, X. Zhao, Y. Shi, Y. Zhang and J. Xiao, Six Degree-of-Freedom Haptic Simulation of Probing Dental Caries within a Narrow Oral Cavity, IEEE Transactions on Haptics, VOL. 9, NO. 2, APRIL-JUNE 2016, pp. 279-29

22.     S. Zhang, D. Wang, N. Afzal, Y. Zhang, R. Wu, Rhythmic Haptic Stimuli Improve Short-term Attention, IEEE Transactions on Haptics, VOL. 9, NO. 3, JULY-SEPTEMBER 2016, pp. 437-442

23.     D. Wang, J. Jiao, G. Yang, Y. Zhang, Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback, IEEE Transactions on Haptics, VOL. 9, NO. 3, JULY-SEPTEMBER 2016, pp. 432-436

24.     F. Yuan, Y. Wang, Y. Zhang, Y. Sun, D. Wang, P. Lyu, An automatic tooth preparation technique: A preliminary study, Scientific Reports, 6:25281, DOI: 10.1038/srep2528, In Press

25.     G. Yu, D. Wang, Y. Zhang, and J. Xiao, Simulating sharp geometric features in six degrees-of-freedom haptic rendering, IEEE Transactions on Haptics, Vol. 8, No. 1, 2015, pp. 67-78

26.     D. Wang, Y. Zhang, X. Yang, G. Yang, and Y. Yang, Force Control Tasks with Pure Haptic Feedback Promote Short-Term Focused Attention, IEEE Transactions on Haptics, Vol. 7, No. 4, 2014, pp. 467-476

27.     D. Wang, Y. Shi, S. Liu, Y. Zhang and J. Xiao, Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations, IEEE Transactions on Haptics, Vol. 7, No. 1, 2014, pp. 48-60

28.     D. Wang, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE Transactions on Haptics, Vol. 6, No. 2, 2013, pp. 167-180

29.     D. Wang, Y. Zhang, J. Hou, Y. Wang, P. Lv, Y. Chen, H. Zhao, iDental: A haptic-based dental simulator and its preliminary evaluation, IEEE Transactions on Haptics, Volume: 5, Issue: 4, Oct. –Dec., 2012, pp. 332-343

30.     D. Wang, Y. Zhang, W. Zhou, H. Zhao, Z. Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics, Vol. 4, Issue 4, Oct. –Dec., 2011, pp. 321-326

31.     D. Wang, J. Guo, C. Sun, M. Xu, and Y. Zhang, A Flexible Concept for Designing Multi-Axis Force/Torque Sensors using Force Closure Theorem, IEEE Transactions on Instrumentation and Measurement, Vol. 62, No. 7, 2013, pp. 1951-1959

32.     D. Wang, C. Yang, Y. Zhang and J. Xiao, Towards in-vivo force and motion measurement for vascular surgery, IEEE Transactions on Instrumentation and Measurement, Vol. 63, No. 8, 2014, pp.1975 - 1982

33.     D. Wang, Y. Zhang, C. Yao, J. Wu, H. Jiao and M. Liu, “Toward force-based signature verification: a pen-type sensor and preliminary validation,” IEEE Transactions on Instrumentation and Measurement, Volume 59, Number 4, April 2010, pp: 752-762

34.     D. Wang, T. Li, Y. Zhang, J. Hou, Survey on Multi-sensory Feedback Virtual Reality Dental Training Systems, European Journal of Dental Education, In press

35.     D. Wang, Y. Zhang et al., “Cutting on Triangle Mesh Local Model based haptic display for dental preparation surgery simulation,” IEEE Transactions on Visualization and Computer Graphics, No. 6, 2005, p671-683

36.     D. Wang, L. Wang, Y. Zhang, P. Lv, Y. Sun and J. Xiao, Preliminary study on a miniature laser manipulation robotic device for tooth crown preparation, The International Journal of Medical Robotics and Computer Assisted Surgery, In press

37.     D. Wang, S. Zhao, T. Li,  Y. Zhang, X. Wang, Preliminary Evaluation of a Virtual Reality Dental Simulation System on Drilling Operation, Bio-Medical Materials and Engineering, Accepted

38.     L. Wang, D. Wang, Y. Zhang, L. Ma, Y. Sun, and P. Lv, An automatic robotic system for three- dimensional tooth crown preparation using a picosecond laser, Lasers in Surgery and Medicine, In press

39.     D. Wang, Y. Zhang, J. Wu, “A hierarchical model of motor skill for haptic-assisted virtual reality training,” The International Journal of Virtual Reality, 2010, 9(3):75-81

40.     D. Wang , Y. Zhang, Y. Wang, P. Lü, R. Zhou and W. Zhou, “Haptic rendering for dental training system,” Science in China Series F: Information Sciences, Volume 52, Number 3, MAR 2009, pp: 529-546

41.     J. Wu, D. Wang, C. Wang, and Y. Zhang. “Toward stable and realistic haptic interaction for tooth preparation simulation,” ASME Transactions - Journal of Computing and Information Science in Engineering, vol.10, no.2, 021007 (9 pages), June 2010

42.     D. Wang, Y. Zhang et al., “Strokes-based modeling and haptic skill display for Chinese calligraphy simulation system,” Springer Virtual Reality Journal, (2006) 9: 118-132

43.     J. Wu, Y. Leung, C. Wang, D. Wang, and Y. Zhang, “Smooth force rendering on coarse polygonal meshes,” Journal of Visualization and Computer Animation, Special Issue of 23rd International Conference on Computer Animation and Social Agents, Saint-Malo, France, May 31 - June 2, 2010, vo.21, no.3-4, pp.235-244

44.     G. Liu, Y. Zhang, D. Wang, W. Townsend, “Stable haptic interaction using a damping model to implement a realistic tooth-cutting simulation for dental training,” Springer Virtual Reality Journal, Springer London, 2008.3. 12(2): 99-106

Conference papers

45.     Yuan Guo, Dangxiao Wang, Ziqi Wang, Xiuping Yang, Haitong Wang, Yuru Zhang, Weiliang Xu,“Achieving High Stiffness Range of Force Feedback Gloves using Variable Stiffness Mechanism,”  IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.

46.     Yilei Zheng, Dangxiao Wang, Lijun Wang, et al. "Monitoring Neural Activity during Motion-Force Control Task Using Functional Near-Infrared Spectroscopy," IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.

47.     Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun. HapTex: A Database of Fabric Textures for Surface Tactile Display [C]. IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019

48.     Y. Zhang, D. Wang, Z. Wang, Y. Wang, L. Wen, and Y. Zhang, A Two-Fingered Force Feedback Glove using Soft Actuators, IEEE Haptics Symposium 2018, Mar. 25-28, San Francisco, US.

49.     Jian Jiao, Yuru Zhang, Dangxiao Wang, et al. Data-Driven Rendering of Fabric Textures on Electrostatic Tactile Displays. IEEE Haptics Symposium, 2018, pp. 169-174

50.     Jian Song, Yuru Zhang, Hongdong Zhang, Dangxiao Wang, Weiliang Xu. Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors. IEEE Haptics Symposium, 2018, 78-83.

51.     P. Zhang, D. Wang, Y. Zhang. Analysis of Correlation between Image Texture and Friction Coefficient of Materials[C]. IEEE Intl Conf on Image Systems and Techniques, Oct.18-20, 2017, 352-357

52.     L. Lu, Y. Zhang, X. Guo, D. Wang, A Surface Texture Display for Flexible Virtual Objects. AsiaHaptics Conference, Incheon, Korea, 2018

53.     X. Guo, Y. Zhang, D. Wang, L. Lu, J. Jiao, and W. Xu, "Correlation Between Electrovibration Perception Magnitude and the Normal Force Applied by Finger," EuroHaptics, 2018, pp. 91-101

54.     C. Peng, D. Wang, Y. Zhang, T. Li, Quantifying Differences between Five Fingers in Speed-Accuracy Tradeoff for Force Control Tasks, IEEE World Haptics Conference 2017, The 7th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 05~09, 2017, Munich, Germany.

55.     H. Zhang, Y. Zhang, D. Wang, and L. Lu, DentalTouch: A Haptic Display with High Stiffness and Low Inertia, IEEE World Haptics Conference 2017, The 7th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 05~09, 2017, Munich, Germany.

56.     X. Guo, Y. Zhang, D. Wang, and J. Jiao, Absolute and Discrimination Thresholds of a Flexible Texture Display, IEEE World Haptics Conference 2017, The 7th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 05~09, 2017, Munich, Germany, pp. 269-274, 2017.

57.     D. Zhang, D. Wang, WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016). Daejeon, Korea, Oct.09-Oct. 14, 2016

58.     X. Yang, D. Wang and Y. Zhang, An Adaptive Strategy for an Immersive Visuo-Haptic Attention Training Game, EuroHaptics Conference 2016, Jul.4-7, London, UK

59.     J. Song, Y. Zhang, H. Zhang and D. Wang, Co-Actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device, EuroHaptics Conference 2016, Jul.4-7, London, UK

60.     M. Xu, D. Wang, Y. Zhang, D. Wu, "Effect of Vibrotactile Cues for Guiding Simultaneous Procedural Motion of Two Joints on Upper Limbs.", 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015). Hamburg, Germany, Sep. 28-Oct. 02, 2015

61.     T. Li, D. Wang, S. Zhang, Y. Zhang, and C. Yu, Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip Force, IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.

62.     M. Xu, D, Wang, Y. Zhang, J. Song and D, Wu, Performance of simultaneous motion and respiration control under guidance of audio-haptic cues, IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.

63.     G. Yang, D. Wang, and Yuru Zhang, Comparing the Effect of Concurrent and Delayed Visual Feedback on Consolidating Motor Memory in Force Control, IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.

64.     D. Wang, H. Tong, Y. Shi, Y. Zhang, Interactive haptic simulation of tooth extraction by a constraint-based haptic rendering approach, IEEE International Conference on Robotics and Automation, ICRA 2015, May 26 – May. 31, 2015, Seattle, US

65.     L. Ma, D. Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing, IEEE International Conference on Robotics and Automation, ICRA 2014, May 31 – Jun. 07, 2014, Hong Kong, China

66.     G. Yu, D. Wang, Y. Zhang, Accelerating Optimization-based Haptic Rendering by Parallel Quadratic Programming Method, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). Tokyo, Japan, Nov. 03-08, 2013

67.     L. Wang, D. Wang, L. Ma, Y. Zhang, F. Yuan, Y. Sun, Preliminary experiments of a miniature robotic system for tooth ablation using ultra-short pulsed lasers, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). Tokyo, Japan, Nov. 03-08, 2013

68.     D. Wang, C. Yang, Y. Zhang, J. Xiao, Y. Dong, T. Wang, A novel design of a wearable device for measuring force and torque in vascular surgery, IEEE International Conference on Robotics and Automation, ICRA 2013, May 6 - 10, 2013, Karlsruhe, Germany

69.     D. Wang, M. Xu, Y. Zhang, J. Xiao, Preliminary study on haptics-stimulation based brainwave entrainment, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, April 14~17, 2013, Daejeon, Korea.

70.     D. Wang, Y. Shi, S. Liu, Y. Zhang, J. Xiao, The influence of master-slave mapping uncertainty on force/torque fidelity of 6-DOF haptic rendering, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, April 14~17, 2013, Daejeon, Korea.

71.     D. Wang, S. Liu, J. Xiao, J. Hou, Y. Zhang. Six Degree-of-Freedom Haptic Simulation of Pathological Changes in Periodontal Operations. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012). Vilamoura, Algarve, Portugal October 7-12, 2012. pp. 39-45 

72.     G. Yu, D. Wang, Y. Zhang, X. Zhang, Six Degree-of-Freedom Haptic Simulation of Sharp Geometric Features using a Hybrid Sphere-tree Model, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Vilamoura, Algarve, Portugal October 7-12, 2012. pp. 3314-3319

73.     D. Wang, C. Yang, J. Shi, Y. Zhang. A portable in-vivo device of friction force and torque measurement for vascular surgery, IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS), July 2-4, 2012, Tianjin, China, pp. 190 – 195.

74.     J. Wu, D. Wang, Y. Zhang, Haptic Display of Rigid Body Contact Using Generalized Penetration Depth. ICIRA (1) 2011: 532-541

75.     Z. Chen, Y. Zhang, D. Wang, et al. iFeel6-BH1500: a Large Scale 6-DOF Haptic Device. IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS), July 2-4, 2012, Tianjin, China, pp. 121 – 125.

76.     D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Six-degree-of-freedom Haptic Simulation of Organ Deformation in Dental Operations, IEEE International Conference on Robotics and Automation, ICRA 2012, May 14-18, 2012, St. Paul, Minnesota, USA, pp. 1050-1056.

77.     D. Wang, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE International Conference on Robotics and Automation, ICRA 2011, May 9-13, Shanghai, China, pp. 906-912. (Best Manipulation Paper Award - Finalist)

78.     Z. Wang, D. Wang, Y. Zhang and M. C. Lin, Analysis on Increasing Transparency for Penalty-based Six Degree-of-Freedom Haptic Rendering, Proc. of the World Haptics Conference 2011, Istanbul, Turkey, Jun. 21-24, 2011, pp. 83-88

79.     X. Zhang, D. Wang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering Using Sphere-trees, Proc. of the IEEE International conference on Intelligent robot and systems, IROS 2011, September 25-30, 2011, San Francisco, California, U.S., pp. 2602-2607

80.     D. Wang, L. Fang, M. Xu and J. Yu. Flexible Building Blocks: Modularized Design Concept of A Six-Axis Force/Torque Sensor [C]. International Conference on Mechatronics and Automation (ICMA2011). Aug. 07-10, 2011, Beijing, China, pp. 1109-1114

81.     G. Yu, D. Wang, Y. Zhang, Visio-haptic simulation for detection of dental cavity profile. In ICMA 2011: Proceedings of 2011 International Conference on Mechatronics and Automation, 7-10 Aug, Beijing, pp. 1315 – 1320 (2011)

82.     Jiao Huimin, Wang Dangxiaio, Zhang yuru. Template Construction for Function-based Signature Verification. The 6th IEEE Conference on Industrial Electronics and Applications (ICIEA2011), Jun. 21, 2011 - Jun. 23, 2011, Beijing, China

83.     M. Liu, D. Wang, Y. Zhang, A Novel Haptic Rendering Algorithm for Stable and Precise 6-DOF Virtual Assembly, ASME 2010 World Conference on Innovative Virtual Reality (WINVR2010), May 12-14, 2010, Ames, Iowa, U.S.

84.     H. Zhao, D. Wang, Soft Tissue Simulation with Bimanual Force Feedback, 2010 International Conference on Audio, Language and Image Processing(ICALIP2010), vol.1, pp.903-907.

85.     L. Fang, D. Wang, H. JIAO, On-line Signature Verification Based on Three-dimensional Force Signals at Critical Points, 2010 International Conference on Audio, Language and Image Processing(ICALIP2010), vol.1, pp.543-547  (EI: 20110713662675)

86.     D. WANG, J. LI, C. LI, An Adaptive Haptic Interaction Architecture for Knee Rehabilitation Robot, IEEE ICMA 2009, 2009 IEEE International Conference on Mechatronics and Automation, August 9 - 12, 2009, Changchun, Jilin, China

87.     J. Wu, G. Yu, D. Wang, Y. Zhang, C. C.L. Wang. Voxel-based Interactive Haptic Simulation of Dental Drilling. In Proceedings of ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. August 30-September 2, 2009, San Diego, USA

88.     X. Dai, Y. Zhang, D. Wang, Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device, 2009 ASME/IDETC, Proceeding of ASME 2009 International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference (CIE), 2009,San Diego, CA,USA

89.     Jun Wu, Dangxiao Wang, Yuru Zhang. Virtual Fixture based Haptic Rendering of Handwriting. In Proceedings of IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems. May 11-13, 2009, Hong Kong, China. pp. 16-21

90.     Huimin JIAO, Dangxiao WANG, Yuru ZHANG, Different role of friction and normal force for force-based signature verification, The 2nd IEEE International Conference on Image and Signal Processing (CISP 2009) , TianJin, China, 17-19 October, 2009

91.     Dangxiao WANG, Yuru ZHANG, Yu WANG, Analysis of registration accuracy for collocated haptic-visual display system, Proc. of the 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Nevada, U.S. Mar. 13-14, 2008 (EI检索号：083511479770)

92.     Renge Zhou, Dangxiao Wang, Yuru Zhang, Haptic Rendering of Tissue Boundary for Surgical Training, IEEE/ASME Advanced Intelligent Mechatronics, Xi’an, China, July 2-5, 2008

93.     Xiaowei Dai, Yuru Zhang, Yonggang Cao, Dangxiao Wang, Current Closed Loop Control for Increasing Virtual Stiffness in Haptic Interaction, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications,2008,Beijing, China (EI: 20090911933697)

94.     Xiaowei DAI, Yuru ZHANG, Yonggang CAO and Dangxiao WANG. Stable Multirate Control Algorithm for Haptic Dental Training System. International Conference on Intelligent Robotics and Applications(2008ICIRA) (EI 084911762297)

95.     Dangxiao Wang, Yuru Zhang, Jun Wu, A novel haptic file format for sharing haptic sensation by record-play method, Proc. of 2007 International Conference on Human Computer Interaction, HCII, Beijing, China, Jul. 22-27, 2007

96.     Chao Li, Dangxiao Wang, Yuru Zhang, Experimental Study on Enlarged Force Bandwidth Control of a Knee Rehabilitation Robot, Proc. of 2007 International Conference on Human Computer Interaction, HCII, Beijing, China, Jul. 22-27, 2007（ISTP:000248533200082）(EI: 20080411042530)

97.     Yonggang Cao, Yuru Zhang, Yunzhong Ma, Dangxiao Wang. Design and Analysis of A New Six DOF Haptic Device for Dental Training，IEEE ROMAN 2007 Conference, Jeju, Korea, Aug. 26~29, 2007 (EI 20083311449938)

98.     D. Wang, Y. Zhang, C. Yao, Machine-mediated motor skill training method in haptic-enabled Chinese calligraphy simulation system，Proceedings of 2006 IEEE International conference on Intelligent robot and systems, IROS 2006，Beijing, China，Oct. 9~15，2006 (EI: 20072510665539)

99.     D. Wang, Y. Zhang, Y. Wang, G. Liu, Spatial-domain consistency between haptic and visual display under geometrical transform，Proceedings of EuroHaptics 2006, Paris, France, July 3-5, 2006

100.  D. Wang, Y. Zhang, Y. Cao, Dynamic unilateral constraint (DUC) Unified model for VE-induced instability analysis in haptic system，Proceedings of EuroHaptics 2006, Paris, France, July 3-5, 2006

101.  D. Wang, Y. Zhang, Y. Cao, Modeling of Intelligent Behaviour in Haptic Enabled Tug-of-War Simulation，The Multiconference on "Computational Engineering in Systems Applications"，CESA 2006，Beijing, China，Oct. 4~6，2006

102.  Dangxiao WANG, Yuru ZHANG, Zhitao SUN, “Multi-modal virtual reality dental training system with integrated haptic-visual-audio display”,2006 International Conference on Robotic Welding, Intelligence and Automation (RWIA’2006), Shanghai，China, December 8-11, 2006

103.  D. Wang, Y. Zhang et al., Virtual Tug-of-War Example of Intelligent Virtual Environment in Haptic Interaction, Proc. of the World Haptics Conference 2005, Pisa, Italy, March 15~18, 2005

104.  G. Liu, Y. Zhang, D. Wang, Cutting Force Model of Dental Training System，Proc. of International Conference on Intelligent Robot and Systems (IROS) 2005, Alberta, Canada

105.  D. Wang, Y. Zhang, Effect of haptic device’s position resolution on stability, Proceedings of EuroHaptics 2004, Munich Germany, June 5-7, 2004, pp. 377-380

106.  D. X. Wang, Y. Zhang, Y. Wang, P. Lu, Y. Wang, Development of dental training system with haptic display，Proceedings of 2003 IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003, Millbrae, California, U.S.A. pp: 159 – 164

107.  Luo Yangyu, Wang dangxiao, Zhang Yuru, Stable boundary of virtual mass for a haptic admittance display system, Proc. of Eurohaptics 2003, Dublin, Ireland

108.  S. H. Zhang, D. X. Wang, Y. R. Zhang, Y. H. Wang, Y. G. Wang, X. P. Ma, The Human-machine Interface Implementation for the Robot-assisted Endoscopic Surgery System, 2002 IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2002, Berlin, German

109.  Luo Yangyu, Wang dangxiao, Zhang Yuru, Development of a Haptic Interface, Proceedings of the 2nd International Symposium on Instrumentation Science and Technology, Jinan, PR.China, 2002, pp. 272-276

Research grants

Ø  Principal Investigator, Six-degree-of-freedom Haptic rendering method for fine manipulation simulation. National Natural Science Foundation of China. 2012.1~2015.12

Ø  Principal Investigator, Miniature robotics devices for high-accurate dental preparation based on femtosecond laser ablation. National Key Technology R&D Program of China. 2012.1~2014.12

Ø  Principal Investigator, Motor skill training method based on bi-mode force display technology. National Natural Science Foundation of China. 2007.1~2009.12

Ø  Principal Investigator. Haptic rendering and haptic-visual registration method for high-fidelity dental training system. National Hi-tech Research and Development Program of China (863). 2007.8~2009.8

Ø  Principal Investigator. Haptic-based pattern recognition for signature verification. Natural Science Foundation of Beijing Municipal Government. 2008.1~2010.12

Ø  Principal Investigator. Research on motor skill training in Chinese Calligraphy system. National Post-Doctoral Research Foundation of China. 2004.6~2006.5

Ø  Principal Investigator. Force assistance method for knee rehabilitation system. The project is supported by a medical company in Beijing, China. 2006.1~2007.5

Ø  Project Member, Research and development of haptic-enabled dental training systems. National Natural Science Foundation of China. 2003.1~2005.12

AWARDS

Ø  Technology Innovation Award, First Prize, Ministry of Education, China, 2014.1

Ø  Best Manipulation Paper Finalist, IEEE International Conference on Robotics and Automation, ICRA 2011

Academic activity

Ø  Attending ACM SIGGRAPH ASIA 2014 in Shenzhen, China, 2014.12

Ø  Hosting China Haptics Workshop 2014 in Beijing, China, 2014.9

Ø  Attending IEEE International Conference on Robotics and Automation, ICRA 2014. in Hong Kong, China, 2014.5

Ø  Attending IEEE World Haptics Conference 2013, April 14~17, 2013, Daejeon, Korea

Ø  Attending IEEE International Conference on Robotics and Automation, ICRA 2013. in karlsruhe, Germany, 2013.5

Ø  Attending IEEE International Conference on Robotics and Automation, ICRA 2012. in Saint Paul, USA, 2012.5

Ø  Attending IEEE Haptics Symposium 2012 in Vancouver, BC. Canada. 2012.3

Ø  Attending ISNR 20th Annual Conference in Orlando, USA. 2012.9

Ø  Attending MMVR 2012 in Newport Beach, CA, U. S. 2012.2

Ø  Attending IEEE World Haptics Conference 2011 in Istanbul, Turkey, 2011.7

Ø  Session chair, IEEE International Conference on Robotics and Automation, ICRA 2011, in Shanghai, China, 2011.5

Ø  Session chair, IEEE International Conference on Mechatronics and Automation (ICMA2011), in Shanghai, China, 2011.8

Ø  Demonstration in Haptics Symposium 2010 in Waltham, MA. U.S. 2010.3

Ø  Attending World Haptics Conference 2009 in Salt Lake City, U.S. 2009.3

Ø  Attending 2009 IEEE International Conference on Mechatronics and Automation, Changchun, Jilin, China. August 9 - 12, 2009

Ø  Attending Haptics Symposium 2008 in Reno, U.S. 2008.3

Ø  Attending IEEE/ASME Advanced Intelligent Mechatronics, Xi’an, China, July 2-5, 2008

Ø  Short Visit in SOFA team, INRIA, Lille, France, 2008.12

Ø  Attending National Conference on Virtual Reality and Visualization, Beijing, China. 2007.10

Ø  Attending International Conference on Human Computer Interaction, HCII, Beijing, China. 2007.7

Ø  Attending World Haptics Conference 2007 in Tsukuba, Japan. 2007.3

Ø  Attending IEEE IROS 2006 conference in Beijing, China. 2006.10

Ø  Attending Multiconference on "Computational Engineering in Systems Applications"，CESA 2006，Beijing, China, 2006.10

Ø  Attending Eurohaptics 2006 conference in Paris, France. 2006.7

Ø  Attending World Haptics Conference 2005 in Pisa, Italy. 2005.3

Ø  Attending Eurohaptics 2004 conference in Munich, Germany. 2004.6

TEACHing activity

1.      C Programming Language, 1^st year undergraduate course

2.      Theory of Machine and Mechanisms, 2^nd year undergraduate course

3.      Haptic human-machine interaction, Graduate student course

4.      Modern product design methodology, International graduate student course