Yuru Zhang, Professor
Robotics Institute, Beihang University
No. 37 Xueyuan RD, Beijing 100191, China
Tel: +86-10-82338023
Email: yuru@buaa.edu.cn
Webp:http://haptic.buaa.edu.cn

Education

     Ph.D., Mechanical Engineering, Beihang University, Beijing, China, 1987
     M.S., Mechanical Engineering, Beihang University, Beijing, China, 1984
     B.S., Mechanical Engineering, Dalian University of Technology, Dalian, China, 1982

Career

     Assistant Professor, Robotics Institute, Beihang University, 1987-89
     Associate Professor, Robotics Institute, Beihang University, 1990-96
     Professor, Robotics Institute, Beihang University, 1997-present
     Associate director, Robotics Institute, Beihang University, 1997-2002
     Associate Dean, School of Mech Eng and Automation, Beihang University, 2003-2007
     Associate director, State Key Laboratory of Virtual Reality Technology and System, China, 2010-2018
     Visiting Professor, Purdue University, USA, 2011.3-2011.9
     Invited Professor, INRIA, France, 2012.7

Research Interests

     Haptic interface
     Medical robotic system
     Robotic dexterous manipulation

Teaching

     Haptic interface
     Introduction to robotics
     Product design and developmen

Professional memberships

     Senior Member of IEEE
     Member of ASME
     Member of IFToMM

Awards and Honors

     1. Science and Technology Award, First Prize, The Chinese Institute of Electronics, 2020
     2. Technology Innovation Award, First Prize, The Ministry of Education, China, 2014
     3. National Science and Technology Award, The Ministry of Science and Technology, China, 2008
     4. The 21st Century Outstanding Professional Award, The Ministry of Education, China, 2003
     5. Research Leadership Award, Beijing Municipal Government, 1998
     6. Outstanding Investigator Award, The Ministry of Aeronautics Industry, China, 1996
     7. Outstanding Yong Professor Award, Beijing Municipal Government, 1993

Professional Services

     Associate Editor, IEEE Robotics and Automation Letters, 2018-present
     Editorial Board, Robot, Journal of Chinese Association of Automation, 2004-present
     Advisory Board of Undergraduate Education, The Ministry of Education, China, 2006-2018
     Senior Program Committee, IEEE International Conference on Robotics and Automation, Seattle, USA, 2015
     Co-Chair, Industrial Forum, IEEE International Conference on Robotics and Automation, Seattle, USA, 2015
     Award committee, EuroHaptics Conference, 2014
     Program Committee, IEEE International Conference on Intelligent Robots and Systems, 2005, 2006

Invited Talks

     1. Keynote, “Touching the Digital World”, IEEE HAVE2018, Dalian, China
     2. Keynote, “iDental: A Simulator for Dental Skill Training”, IEEE International Conference on Robotics and Automation, Seattle, USA, 2015
     3. Keynote, “Simulation in a tangible virtual world: haptic interface and its application in a dental simulator”, BioMouth, University of Auckland, New Zealand, 2012

Best paper and finalist

     1. Jian Song, Yuru Zhang, Hongdong Zhang, and Dangxiao Wang,Co-actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device, EuroHaptics 2016, Part I, LNCS 9774, pp. 229–239, 2016, Springer International Publishing Switzerland, Finalist of Best Paper Award
     2. Dangxiao Wang，Xin Zhang，Yuru Zhang, and Jing Xiao, Configuration-based optimization for six degree-of-freedom haptic rendering for fine manipulation, IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China, pp.906-912, Finalist of Best Paper Award
     3. Liu, JC; Zhang, Y; Li, Z, Proving the positioning accuracy of a neurosurgical robot system, IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, AUG 13-16, 2006, Best student paper

Principal Publications

Book

     1. D. Wang, J. Xiao, and Y. Zhang, Haptic rendering for fine manipulation, Springer, 2014, ISBN 978-3-662-44949-3,
     
     2. Yuru Zhang, Jiting Li and Jianfeng Li, Robotic Dexterous Hands: Modeling, Planning and Simulation, The China Machinery Press, 2007, ISBN 978-7-111-20497-8

Patents

• Yuru Zhang, Dangxiao Wang, Hongdong Zhang, etc. “Force Feedback Handle Device with a Degree-of-Freedom and Working Method Thereof”, US10394271B2, WO:15/587288, August 27, 2019

Journal Papers

1.    Ruihang Chu, Yuru Zhang, Hongdong Zhang, Weiliang Xu, Jee-Hwan Ryu, and Dangxiao WANG. Co-actuation: A Method for Achieving High Stiffness and Low Inertia for Haptic Devices. IEEE Transactions on Haptics.vol. 13, no. 2, pp. 312-324, 1 April-June 2020.

2.    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, vol. 67, no. 9, pp. 7681-7690, Sept. 2020.

3.    Xingwei Guo, Yuru Zhang, Wenxuan Wei, Weiliang Xu, Dangxiao Wang. Effect of Temperature on the Absolute and Discrimination Thresholds of Voltage on Electrovibration Tactile Display. IEEE Transactions on Haptics, vol. 13, no. 3, pp. 578-587, 1 July-Sept. 2020.

4.    Xiaohan Zhao, Zhuoli Zhu, Yu Cong, Yongtao Zhao, Yuru Zhang and Dangxiao Wang. Haptic Rendering of Diverse Tool-Tissue Contact Constraints During Dental Implantation Procedures. Frontiers in Robotics and AI, 20 March 2020.

5.    Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu, Jian Jiao, and Weiliang Xu. The Effect of Applied Normal Force on the Electrovibration. IEEE Transactions on Haptics, pp. 1-1, 2019.

6.    Yilei Zheng, Dangxiao Wang, Yuru Zhang, and Weiliang Xu. Detecting Mind Wandering: An Objective Method via Simultaneous Control of Respiration and Fingertip Pressure. Frontiers in Psychology. 05 February 2019.

7.    Cong Peng, Dangxiao Wang, Yuru Zhang, and Jing Xiao. A Visuo-haptic Attention Training Game with Dynamic Adjustment of Difficulty. IEEE Access, vol. 7, pp. 68878-68891, 2019.

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(9):1-18.

9.    Yu Zhang, Dangxiao Wang, Ziqi Wang, Yuru Zhang, and Jing Xiao. Passive Force-Feedback Gloves with Joint-Based Variable Impedance Using Layer Jamming. IEEE Transactions on Haptics, Vol. 12, No. 03, pp. 269-280, July-September 2019.

10.    Dangxiao WANG, Teng LI, Naqash AFZAL, Jicong ZHANG, and Yuru ZHANG. Haptics-mediated approaches for enhancing sustained attention: framework and challenges. SCIENCE CHINA Information Sciences, November 2019, Vol. 62 211101:1–211101:26.

11.    Y. Zheng, D. Wang, Y. Zhang, Y. Tang. Enhancing attention by synchronizing respiration and fingertip pressure: a pilot study using functional near infrared spectroscopy. Frontiers in Neuroscience, Vol.13, November 2019

12.    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

13.    Jian Jiao, Dangxiao Wang, Yuru Zhang, Dekun Cao, Yon Visell, Xingwei Guo, and Xiaoying Sun. Detection and Discrimination Thresholds for Haptic Gratings on Electrostatic Tactile Displays. IEEE Transactions on Haptics, vol. 12, No. 1, pp.34-42, 2019.

14.    Dangxiao Wang, Meng Song, Afzal Naqash, Yukai Zheng, Weiliang Xu, and Yuru Zhang. Toward Whole-Hand Kinesthetic Feedback: A Survey of Force Feedback Gloves[J]. IEEE Transactions on Haptics, vol. 12, No. 2, pp. 189-204, April-June 2019.

15.    Lingzhi Liu, Yuru Zhang, Guanyang Liu, Peter Xu，Variable Motion Mapping to Enhance Stiffness Discrimination and Identification in Robot Hand Teleoperation, Robotics and Computer-Integrated Manufacturing，51 (2018) 202–208

16.    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.

17.    D Wang， C Peng， N Afzal， W Li， D Wu，Yuru Zhang,“Localization Performance of Multiple Vibrotactile Cues on Both Arms”，IEEE Transactions on Haptics，11, Issue:1，JANUARY-MARCH 2018，pp.97-106

18.    S. Zhang, D. Wang, N. Afzal, Y. Zhang, R. Wu, Rhythmic Haptic Stimuli Improve Short-term Attention, IEEE Transactions on Haptics, 2017,9 (3):437-442

19.    Wang, Dangxiao; Li, Teng; Yang, Gaofeng; Zhang, Yuru, Effects of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation, IEEE Transactions on Haptics，Volume: 10, Issue:3, JULY-SEPTEMBER 2017, Page(s): 350-357

20.    Dangxiao Wang, Xiaohan Zhao, Youjiao Shi, Yuru Zhang, Jing Xiao，Six Degree-of-Freedom Haptic Simulation of a Stringed Musical Instrument for Triggering Sound, IEEE Transactions on Haptics, 2017, PP (99) :1-1

21.    T Li，D Wang，C Peng，C Yu，Y Zhang，Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback，International Journal of Human-Computer Studies， vol. 110, pp. 33–44, Oct. 2017.

22.    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

23.    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, 2016, 9(2):279-291

24.    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

25.    F. Yuan, Y. Wang, Y. Zhang, Y. Sun, D. Wang, P. Lyu, An automatic tooth preparation technique: A preliminary study, Scientific Reports, 2016, 6:2528

26.    D. Wang, T. Li, Y. Zhang, J. Hou, Survey on Multi-sensory Feedback Virtual Reality Dental Training Systems, European Journal of Dental Education, 2016, 20 (4) :248

27.    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

28.    Dangxiao Wang, Siming Zhao, Teng Li, Yuru Zhang, Xiaoyan Wang. Preliminary evaluation of a virtual reality dental simulation system on drilling operation. Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. 747-756, 2015.

29.    Yi Yang, Betty Lemaire-Semail, Frédéric Giraud, Michel Amberg, Yuru Zhang and Christophe Giraud-Audine, Power Analysis for the Design of a Large Area Ultrasonic Tactile Touch Panel, European Journal of Applied Physics, Vol. 72, No. 1, October 2015

30.    Liu G, Wang Y, Zhang Y, et al. Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks[J]. Journal of Mechanical Science & Technology, 2015, 29(6):2487-2499.

31.    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

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

33.    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

34.    D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE Transaction on Haptics, 6 (2), 167-180，2013

35.    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, Accepted

36.    Dangxiao Wang, Yuru Zhang, Jianxia Hou, Yong Wang, Peijun Lv, Yonggang Chen Hui Zhao, iDental: A haptic-based dental simulator and its preliminary evaluation, IEEE Transaction on Haptics, Volume: 5, Issue: 4, Oct. –Dec. 2012, pp. 332-343

37.    LI Jiting; WANG Shuang; WANG Ju; ZHENG Ruoyin; ZHANG Yuru; CHEN Zhongyuan, Development of a Hand Exoskeleton System for Index Finger Rehabilitation, Chinese Journal of Mechanical Engineering. Vol.25, No.2, March 2012, 223-233.

38.    Chao Chen,Guanyang Liu, Yuru Zhang, Yan Wang,Deployment Mechanism Design with Behavioral Modeling Based on Pro/Engineer Motion Skeleton. Applied Mechanics and Materials, v 163, p 242-246, 2012.

39.    Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics， Vol. 4, No. 4, Oct. –Dec., 2011, pp. 321-326

40.    Dangxiao WANG, Yuru ZHANG, Chong YAO, Jun WU, Huimin JIAO and Muli 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

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

42.    Jun Wu, Dangxiao Wang, Charlie C.L. Wang, and Yuru 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, June 2010

43.    Jun Wu, Yuen-Shan Leung, Charlie C.L. Wang, Dangxiao Wang, and Yuru Zhang, “Smooth force rendering on coarse polygonal meshes,” Computer Animation and Virtual Worlds, 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.    DangXiao Wang , YuRu Zhang, Yong Wang, PeiJun Lü, RenGe Zhou and WanLin Zhou, “Haptic rendering for dental training system,” Science in China Series F: Information Sciences, Volume 52, Number 3, MAR 2009, pp: 529-546 (王党校，张玉茹等,面向牙科手术培训的力觉合成技术, 中国科学[F]，2009年第39卷第1期：159~174)

45.    Guanyang Liu,Yuru Zhang, Dangxiao Wang, 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

46.    Guanyang Liu,Yuru Zhang,Townsend, Force Modelling for Tooth Preparation in Dental Training System ,Virtual Reality[J],Springer London 2008.6

47.    Liu, Junchuan; Zhang, Yuru; Li, Zhen, Improving the positioning accuracy of a neurosurgical robot system, IEEE/ASME Transactions on Mechatronics, v 12, n 5, October 2007, p 527-533

48.    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

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

50.    Yuru Zhang and W. A. Gruver, Jiting Li and Qixian Zhang, "Classification of Grasps," IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 31, No. 3, 2001, 436-444

51.    Yuru Zhang and William A. Gruver, “A Method for Simplifying Dynamics of Manipulators with Closed Chains”, Robotics and Autonomous Systems, Vol. 28, No. 4, 1999, 261-269

Conference Papers

     1. X. Guo, Y. Zhang, W. Wei, W. Xu, and D. Wang ThermalTex: A two-modal tactile display for delivering surface texture and thermal information EuroHaptics Conference 2020, Leiden, The Netherlands, September 6–9, 2020.
     2. 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. presented at the 2019 IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.
     3. 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.
     4. Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun. HapTex: A Database of Fabric Textures for Surface Tactile Display. IEEE World Haptics Conference (WHC), Tokyo, Japan, July 9-12, 2019.
     5. Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu, Jian Jiao and Weiliang Xu, Correlation Between Electrovibration Perception Magnitude and the Normal Force Applied by Finger，EuroHaptics 2018, LNCS 10893, pp. 91–101, 2018
     6. J. Song, Y. Zhang, H. Zhang, and D. Wang, “Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors,” Haptics Symposium, 2018.
     7. H. Zhang, Y. Zhang, D. Wang and L. Lu, “DentalTouch: A Haptic Display with High Stiffness and Low Inertia,” in Proceedings of World Haptics, Munich, Germany, 2017, pp. 388-393.
     8. Pengzhi Zhang, Dangxiao Wang, Yuru Zhang,Analysis of Correlation Between Image Texture and Friction Coefficient of Materials, IEEE Intl Conf on Image Systems and Techniques, Beijing, Oct.18-20, 2017, 352-357
     9. Jian Song, Yuru Zhang, Hongdong Zhang, and Dangxiao Wang,Co-actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device,EuroHaptics 2016, Part I, LNCS 9774, pp. 229–239, 2016, Springer International Publishing Switzerland 2016, Finalist of Best Paper Award
     10. Yang Xiaoxiao; Wang Dangxiao; Zhang Yuru，An Adaptive Strategy for an Immersive Visuo-Haptic Attention Training Game，EuroHaptics 2016
     11. Naqash Afzal; Wang Dangxiao; Amine Serir; Zhang Yuru，Design and Evaluation of a Haptic Watch Using Vibrotactile Cues，EuroHaptics 2016
     12. T. Li, Dangxiao 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.
     13. M. Xu, Dangxiao 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.
     14. 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
     15. L. Ma, Dangxiao 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
     16. G. Yu,Dangxiao Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). Tokyo, Japan, Nov. 03-08, 2013
     17. L. Wang, Dangxiao 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
     18. 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
     19. 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
     20. 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 SymposiumApril 14~17, 2013, Daejeon, Korea.
     21. Yu Zou, Yuru Zhang and Yaojun Zhang. On the Design of Singularity-free Cable-driven Parallel Mechanism Based on Grassmann Geometry. ASME 2012 IDETC, August 12-15, 2012, Chicago, IL, USA
     22. Dangxiao Wang, Shuai Liu, Xin Zhang, Yuru Zhang and Jing Xiao. Six-degree-of-freedom Haptic Simulation of Organ Deformation in Dental Operations. 2012 IEEE International Conference on Robotics and Automation(ICRA2012). May 14-18, 2012, St. Paul, Minnesota, USA.
     23. Hao Li, Yuru Zhang, Jian S. Dai, Design optimization of parallel manipulators with required pose resolution, IEEE ICRA 2011, May, Shanghai, pp. 3952-3957
     24. Yi Yang; Yuru Zhang; Zhu Hou; ZhongYuan Chen; Lemaire-Semail, B. FingViewer: A new multi-touch force feedback touch screen, 2011 IEEE International Conference on Consumer Electronics, pp.837-838, 9-12 Jan. 2011
     25. Yi Yang, Yuru Zhang, Zhu Hou, Betty Lemair-Semail, Adding Haptic Feedback to Touch Screens at the Right Time, the 2011 International Conference on Multimodal interfaces (ICMI 2011), November 14-18, 2011, Alicante, Spain.
     26. Yi Yang, Yuru Zhang, Betty Lemaire-Semail. A New Planar 4-DOF Spring and Cable Driven Force Feedback Device. Eurohaptics Conference, 2010, July 7-10, Amsterdam, Netherland
     27. Muli Liu, Dangxiao Wang, Yuru 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.
     28. Xiaowei Dai, Yuru Zhang, Dangxiao Wang, Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device, ASME 2009 International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference (CIE), 2009, San Diego, CA, USA.
     29. Hao Li, Yuru Zhang, Yi Yang, SINGULARITY-FREE TASKSPACE OPTIMIZATION OF 6-RSS MECHANISMS, ASME 2009 International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference (CIE), 2009, San Diego, CA, USA.
     30. Yang Y, Zhang Yuru, Zhang Yaojun, Cao Yonggang. Singularity-Free Task Workspace Analysis of a New Six-dof Parallel Haptic Device, ASME IDETC/CIE2008, August,2008, New York
     31. Dangxiao WANG, Yuru ZHANG, Yu WANG, Analysis of registration accuracy for collocated haptic-visual display system, IEEE 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Nevada, USA, March 13-14, 2008
     32. Xiaowei Dai, Yuru Zhang, Yonggang Cao, Dangxiao Wang, Current Closed Loop Control for Increasing Virtual Stiffness in Haptic Interaction, IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, 2008
     33. Wang, Dangxiao; Zhang, Yuru; Yao, Chong , Machine-mediated motor skill training method in haptic-enabled Chinese handwriting simulation system, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p 5644-5649
     34. D. Wang, Y. Zhang, Y. Wang, G. Liu, “Spatial-domain consistency between haptic and visual display under geometrical transform,” Proc. Of EuroHaptics 2006, Paris, France, July 3-6, 2006, pp.383-388
     35. Guanyang Liu, Yuru Zhang, D. Wang, J. Hao, P. Lu, Y. Wang Cutting Force Model in Dental Training System, Proc. of IEEE International Conference on Intelligent Robots and Systems, 2005,
     36. Junchuan Liu, Yuru Zhang, Tianmiao Wang, Hongguang Xing, Zengmin Tian, ”NeuroMaster: A Robot System for Neurosurgery,”IEEE International Conference on Robotics and Automation，New Orleans, USA, April 26, 2004
     37. 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
     38. Jie Liu, Yuru Zhang, Dataglove Based Grasp Planning for Multi-fingered Robot Hand, Proceedings of the 11th World Congress in Mechanism and Machine Science，April 1-4, 2004，Tianjin, China, China Machinery Press, edited by Tian Huang
     39. 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
     40. Luo Yangyu, Wang dangxiao, Zhang Yuru, Stable boundary of virtual mass for a haptic admittance display system, Proc. of Eurohaptics 2003, Dublin, Ireland
     41. 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
     42. 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