首页
新闻活动
人员团队
科研项目
学术成果
相关资源
招生招聘
  
     

>>[快速通道]

◇博士后招聘！

◇会议征稿、相关资源

◇欢迎报考人机交互实验室!

◇相关研究友情链接

 
 
 
 

王党校  教授
hapticwang@buaa.edu.cn

简介

        王党校，男，陕西西安人。北京航空航天大学教授，博士生导师。虚拟现实技术与系统国家重点实验室副主任， 北京航空航天大学机械工程及自动化学院机器人研究所实验室主任。

         现任亚洲触觉会议（AsiaHaptics 2020）大会主席（General Chair）。曾任IEEE Transactions on Haptics 编委（Associate Editor），IEEE 触觉技术委员会(IEEE Technical Committee on Haptics) 执行委员会主席。IEEE 高级会员，中国计算机学会高级会员，中国机械工程学会高级会员。 
         2004年4月获得北京航空航天大学博士学位，2006年4月北京航空航天大学博士后出站。2016年8月聘为教授。2007年入选北京航空航天大学“蓝天新秀”。2008年入选北京市科技新星。2012年1月到2013年1月在美国University of North Carolina at Charlotte 国家公派访问学者工作。2017年1月到2017年2月在瑞典卡洛琳斯卡医学院国家公派访问学者工作。2018年8月到2019年2月在美国斯坦福大学国家公派访问学者工作。

         主要研究领域为机器触觉、人体触觉学、脑机交互、医疗康复机器人技术。获教育部技术发明一等奖一项（第三完成人），获机器人和自动化领域顶级国际会议IEEE International Conference on Robotics and Automation (ICRA 2011)最佳论文提名（Best Manipulation Paper Award – Finalist）。

学术成果

        累计发表SCI/EI 学术论文140余篇，第一作者或通讯作者IEEE Transactions 期刊论文20余篇。在Springer 出版学术专著1部。相关研究成果发表在IEEE Transactions on Haptics、IEEE Transactions on Industrial Electronics、IEEE Transactions on Visualization and Computer Graphics、IEEE Transactions on Instrumentation and Measurement、《中国科学》、《计算机学报》、《自动化学报》、《机械工程学报》等有影响的国际国内核心期刊上，以及IEEE ICRA、IEEE IROS、IEEE-ROMAN、IEEE World Haptics、中国计算机大会、全国虚拟现实及可视化会议等国际国内会议上。获批中国发明专利20余项，受理发明专利10余项。

主持科研项目

  1. 国家自然科学基金“支持裸手触觉交互和多尺度纹理呈现的主动电子皮肤” （61973016），2020.1-2023.12，63万元，在研，主持
  2. 国家自然科学基金“基于触觉通道的注意力调控机理研究”（61572055）， 2016.1-2019.12，76万元，在研，主持
  3. 国家重点研发计划项目"大数据多模态交互协同关键技术”（2017YFB1002800）课题“视听触虚实配准的强真实感混合呈现技术”（2017YFB1002803），课题负责人， 2017.9-2021.8，634万元，在研，主持
  4. 国家自然科学基金“面向精细操作模拟的六自由度力觉合成方法”（61170187）， 2012.1-2015.12，56万元，已结题，主持
  5. 国家科技支撑计划“口腔数字化牙体预备系统研究”（2012BAI07B04）子课题“微小空间激光光路自动控制技术与系统”，2012.1-2014.12，195万元，已结题，主持
  6. 国家自然科学基金重大项目“面向虚拟手术支撑平台及经皮冠状动脉成形术模拟”(61190125)子课题“力觉交互的真实感评价方法”, 2012.1-2016.12，75万元，在研，主持
  7. 虚拟现实技术与系统国家重点实验室课题“基于力触觉的神经调控方法研究”，2012.1-2013.12，20万元，已结题，主持
  8. 国家自然科学基金“基于双模式触觉交互的灵巧动作技能训练方法研究” （60605027），2007.1-2009.12，24万元，已结题，主持（结题评价：优）
  9. 国家863计划 “面向手眼协调操作的触(力)觉合成和视觉-力觉融合再现技术” (2007AA01Z310) ，2007.12-2009.12，86万元，已结题，主持
  10. 国家863计划重点项目“虚实融合协同工作的集成环境和关键技术”子课题“多通道人机交互与触力觉装置”二级子课题，2009AA012105，2009.1-2010.12，80万元，已结题，主持
  11. 北京市自然科学基金“面向签名防伪的力觉特征识别新技术研究”（4082019），2008.1-2010.12，11万元，已结题，主持
  12. 中国博士后科学基金“面向钢笔书法训练的力觉导引任务规划和力觉渲染方法研究”，2005.5-2006.5，1万元，已结题，主持

    参与科研项目

  13. 国家重点研发计划项目“人机交互自然性的计算原理”（2016YFB1001200）课题“接口的信道特征与交互语义”（2016YFB1001202），项目骨干成员， 2016.7-2020.6
  14. 国家自然科学基金重点项目“多媒体终端触觉真实感理论与关键技术”（61631010），项目骨干成员，2017.1-2021.12

学会组织任职

  1. 亚洲触觉会议（AsiaHaptics 2020）大会主席（General Chair）
  2. IEEE 触觉技术委员会(IEEE Technical Committee on Haptics, TCH) 执行委员会主席，2014年8月至2017年12月 ((http://www.worldhaptics.org/executive-committee) )
  3. IEEE Transactions on Haptics编委（Associate Editor），2015年1月至2018年12月
  4. Digital medicine国际期刊编委，2016年6月至今
  5. 虚拟现实与智能硬件编委，2018年1月至今
  6. IEEE 触觉技术委员会执行委员会副主席，2011年8月至2014年8月
  7. IEEE高级会员，中国计算机学会高级会员，中国机械工程学会高级会员
  8. 中国计算机学会人机交互专业委员会常务委员
  9. 国际数字医学学会创始委员
  10. 2019年IEEE世界触觉会议编辑委员会副编辑（IEEE World Haptics Conference 2017, Associate Editor）
  11. 2017年IEEE世界触觉会议编辑委员会副编辑（IEEE World Haptics Conference 2017, Associate Editor）
  12. Technical Program Committee Co-Chair, International Conference on Virtual Reality and Visualization (ICVRV 2016),September 23-25, 2016 Hangzhou, China
  13. 2016年欧洲触觉会议编辑，Technical Editor, EuroHaptics Conference 2016, Jul.4-7, London, UK（触觉领域三大主流会议之一）
  14. Co-Chair, Student Innovation Challenge, IEEE Haptics Symposium 2016, Apr. 08-11, Pennsylvania, US
  15. 2015年IEEE世界触觉会议编辑委员会副编辑（IEEE World Haptics Conference 2015, Associate Editor）
  16. 2015年IEEE国际机器人与自动化大会分会主席（IEEE International Conference on Robotics and Automation, ICRA 2015, Session Chair）
  17. 2014年欧洲触觉会议国际咨询委员会委员，International advisory committee, EuroHaptics Conference 2014, Paris, France（触觉领域三大主流会议之一）
  18. 2014年欧洲触觉会议程序委员会委员，Program Committee, EuroHaptics Conference 2014, Paris, France（触觉领域三大主流会议之一）
  19. 2014年机器人科学与系统程序委员会委员，Program Committee, Robotics Science and Systems (RSS) 2014, Berlin, Germany(机器人领域知名会议)
  20. Member of International Program Committee, 10th Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS 2013). Lille, France. ((https://vriphys2013.inria.fr/committees/))
  21. 2013年IEEE世界触觉会议编辑委员会副编辑（IEEE World Haptics Conference 2013, Associate Editor）
  22. 2013年IEEE世界触觉会议组织委员会成员（IEEE World Haptics Conference 2013 Organizing Committee member, Publicity Co-Chair）（触觉领域顶级会议）
  23. 2011年IEEE世界触觉会议评奖委员会成员（IEEE World Haptics Conference 2011 Award Committee member）（触觉领域顶级会议）
  24. 2011年IEEE国际机器人与自动化大会触觉分会主席（IEEE International Conference on Robotics and Automation, ICRA 2011, Session Chair of Haptics Session）
  25. 国际期刊审稿人，包括IEEE Transaction on Haptics, ACM Transaction on Graphics, IEEE Transactions on Instrumentation and Measurement, IEEE Transactions on Systems, Man, and Cybernetics--Part C: Applications and Reviews, Journal of Computer Science and Technology等期刊；

获奖情况

  1. 2016年入选北京航空航天大学“青年拔尖人才支持计划”。
  2. 2015年，北航优秀硕士论文 “优秀指导教师”。
  3. 2015年，北航第二十五届“冯如杯”学生学术科技作品竞赛“优秀指导教师”。
  4. 2013年，教育部技术发明一等奖，第三完成人（赵沁平、沈旭昆、王党校、齐越、梁晓辉，刘文宏，胡勇，叶伟，张玉茹，“虚实融合关键技术及应用”）。
  5. 2011年，机器人和自动化领域顶级国际会议IEEE International Conference on Robotics and Automation (ICRA)发表论文获奖（Best Manipulation Paper Award – Finalist） 。
  6. 2008年入选北京市科技新星。
  7. 2007年入选北京航空航天大学“蓝天新秀”。

专著

  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, DOI: 10.1007/978-3-662-44949-3

期刊论文

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. 279-291

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, 2016, 6:25281

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 (IDS: 157EA; WOS:000319877500004)

29.     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

30.     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

31.     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, Vol. 5, No. 4, 2012, pp. 332-343

32.     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, No. 4, Oct. –Dec., 2011, pp. 321-326

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 (SCI：000275368500002)

34.     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):248-260

35.     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, Vol. 26, No. s1, pp. 747-756, 2015

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, 2014 Dec. 10(4):482-94. doi: 10.1002/rcs.1560. Epub 2014 Jan 6

37.     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, 2014 Sep. 46(7):573-81. doi: 10.1002/lsm.22274

38.     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 (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) (SCI：000264106500013)

39.     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, 021007 (9 pages), June 2010 (SCI：000278575300007)

40.     F. Yuan, P. Lv, D. Wang, L. Wang, Y. Sun, Y. Wang, Controlling Dental Enamel–Cavity Ablation Depth with Optimized Stepping Parameters Along the Focal Plane Normal Using a Three Axis, Numerically Controlled Picosecond Laser, Photomedicine and Laser Surgery 02/2015; 33(2):92-7. DOI:10.1089/pho.2014.3840

41.     Y. Sun, F. Yuan, P. Lv, D. Wang, L. Wang, Y. Wang, Method to control depth error when ablating human dentin with numerically controlled picosecond laser: a preliminary study. Lasers in Medical Science 06/2014; 30(5). DOI:10.1007/s10103-014-1596-2

42.     J. Wu, Y. Leung, C. C.L. Wang, D. Wang, and Y. 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 (SCI：000280135400011)

43.     L. Wei, H. Zhou, S. Nahavandi, D. Wang, A universal framework for interfacing existing and future multi-point haptic devices, IEEE Systems, Man, and Cybernetics Magazine, vol. 2, no. 1, pp. 14-25, Jan. 2016

44.     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 (SCI 检索号: 962VN)

45.     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

46.     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

47.     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. （EI 082411306091）

48.     王党校，焦健，张玉茹，赵晓含，计算机触觉：虚拟现实环境的力触觉建模和生成，计算机辅助设计与图形学学报，录用

49.     王党校，戴晓伟，张玉茹. 让虚拟世界真实可触——2012 IEEE 触/力觉研讨会介绍. 中国计算机学会通讯, 2012,8, 8(8):71-76

50.     邹愉, 张玉茹, 王党校. 求解柔索驱动并联机构最大任务空间的区间分析法[J]. 机械工程学报, 2014, 50(5):10-16. (EI: 20141317523456)

51.     张玉茹，王党校，戴晓伟，吴俊，于歌, 力觉交互系统稳定性研究，数字制造科学，2011，9(1):1-34

52.     焦慧敏，王党校，张玉茹. 书写摩擦力的签名识别方法. 自动化化学报. 2011年7月,37卷,第7期:883-890

53.     焦慧敏，王党校，张玉茹. 倾角信息在基于力信息签名识别中的作用分析. 高技术通讯，（录用）

54.     韩兴光，李继婷，王党校，面向图像感知的轮廓力渲染技术研究，系统仿真学报, 第23 卷第4 期, Vol. 23 No. 4, 2011 年4 月, pp. 713-718

55.     李浩，张玉茹, 王党校, 奇异接近度的评价方法. 机械工程学报, 2010,46(5):116-122

56.     李浩，张玉茹, 王党校, 6-RSS并联机构工作空间优化算法对比分析. 机械工程学报, 2010,46(13):61-67

57.     周万琳，王党校，张玉茹，王瑜, 基于速度驱动的复杂场景多层级力觉交互算法, 计算机学报, Vol. 32, No. 8, 2009.8, pp1560-1570 (EI: 20093712302542)

58.     于歌, 王党校, 张玉茹, 面向牙齿钻削手术仿真的体建模方法,高技术通讯, Vol. 20, No. 3, 2010年3月，pp. 314-319

59.     王瑜，王党校，张玉茹，力觉-视觉融合显示的空间配准方法研究，2007全国虚拟现实与可视化年会(CCVRV'07)，系统仿真学报

60.     姚冲，王党校，张玉茹，面向签名防伪的新型数字笔设计，2007全国虚拟现实与可视化年会(CCVRV'07) ，系统仿真学报

61.     吴俊，王党校，张玉茹，基于录制播放的书法动作技能培训，2007全国虚拟现实与可视化年会(CCVRV'07) ，系统仿真学报

62.     曹永刚, 张玉茹, 王党校, 李思桥. 面向口腔临床操作的力觉交互装置控制系统设计与实现, 《系统仿真学报》, 2007, 19(5)（EI: 071510545349）

63.     刘冠阳, 张玉茹, 王瑜, 王党校.双通道触觉交互系统中牙科手术工具之间动态交互的力觉仿真，《系统仿真学报》,2007,19(20):4711-4715（EI: 074610916629）

64.     王党校，张玉茹，姚冲，力反馈汉字书法模拟的任务规划和逼真度评价方法，系统仿真学报, No. 8, 2006 (EI 20063910135994)

65.     王党校，张玉茹，姚冲，面向动作技能训练的力觉交互系统实验研究，系统仿真学报（增刊）, Vol18. No. 8, 2006 (EI 20064710259012)

66.     王瑜, 张玉茹, 刘冠阳, 王党校. 面向虚拟现实牙科手术培训的双通道力觉交互系统, 材料科学与工艺, 2006, 12: 71-76（EI: 071210502959）

67.     姚冲, 王党校, 张玉茹. 基于线素的力觉人机交互建模和实时渲染方法, 第六届全国虚拟现实与可视化学术会议（CCVRV'06),《系统仿真学报》(增刊)（EI: 063810124336）

68.     王党校，张玉茹，王玉慧，吕培军，王勇，基于局部模型的多更新率切削仿真力觉渲染算法，系统仿真学报，No. 11, 2004, pp.2451-2455（EI检索号：04538754555）

69.     王党校，张玉茹，王玉慧，吕培军，王勇，实时力觉交互中的虚拟力计算及渲染方法，系统仿真学报第16卷第7期，No. 7, 2004, pp.1494-1498（EI检索号：04388366490）

70.     王党校，张玉茹，王玉慧，吕培军，王勇，集成力觉交互和图形显示的牙齿探诊模拟系统开发，系统仿真学报，No. 8, 2004, pp.1729-1731

71.     王党校，张玉茹，王玉慧，吕培军，王勇，约束切换与阻抗显示力反馈设备的稳定性研究，机器人，2004年第2期，pp.97-101（EI检索号：04238195626）

72.     罗杨宇, 王党校, 张玉茹. 纯质量虚拟环境下力觉交互系统稳定性研究, 航空学报, 2004, 25(3)，pp.304-307

73.     罗杨宇, 王党校, 张玉茹. 虚拟匹配单元对力觉交互系统性能的影响, 北京航空航天大学学报, 2004, 30(7) ,pp.631-634

74.     罗杨宇, 王党校, 张玉茹. 单自由度力觉交互系统建模与分析, 北京航空航天大学学报, 2004, 30(6)，pp.539-542

75.     王党校，张玉茹等，机器人辅助内镜外科手术系统开发，机器人，2002年第4期 (EI: 2002427143226)

 

会议论文

1.         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.

2.         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.

3.         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

4.         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.

5.         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

6.         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.

7.         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

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

9.         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

10.     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.

11.     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.

12.     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.

13.     M. W. Uddin, X. Zhao, D. Wang, A pneumatic-driven haptic glove with force and tactile feedback, IEEE International Conference on Virtual Reality and Visualization, 2017:304-311

14.     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

15.     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

16.     N. Afzal, D. Wang, A. Serir, M. Lara and Y. Zhang, Design and Evaluation of a Haptic Watch Using Vibrotactile Cues, EuroHaptics Conference 2016, Jul.4-7, London, UK

17.     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

18.     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

19.     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.

20.     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.

21.     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.

22.     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

23.     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

24.     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

25.     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

26.     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

27.     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.

28.     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.

29.     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 

30.     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

31.     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.

32.     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.

33.     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.

34.     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 (Best Manipulation Paper Award - Finalist)

35.     Zhixiang Wang, Dangxiao Wang, Yuru Zhang and Ming 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

36.     Xin Zhang, Dangxiao Wang, Yuru Zhang and Jing 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

37.     Dangxiao Wang, Lei Fang, Mu Xu and Jiaqi 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

38.     Ge Yu, Dangxiao Wang, Yuru 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, 1315 – 1320 (2011)

39.     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

40.     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.

41.     Hui Zhao, Dangxiao Wang, Soft Tissue Simulation with Bimanual Force Feedback, 2010 International Conference on Audio, Language and Image Processing(ICALIP2010), vol.1, pp.903-907. (EI: 20110713662953)

42.     Lei Fang, Dangxiao Wang, Huimin 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)

43.     Dangxiao WANG, Jiting LI, Chao 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

44.     王党校,周万琳,赵 辉，侯建霞, 陈永刚, 王 勇, 吕培军，牙周操作力反馈模拟技术的评价方法，中国计算机大会论文集，CNCC2009，中国天津，2009.10.23-24. pp. 842-854

45.     Jun Wu, Ge Yu, Dangxiao Wang, Yuru Zhang, Charlie 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

46.     Xiaowei Dai, Yuru Zhang, Dangxiao 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

47.     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 （EI: 20094312391258）

48.     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

49.     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)

50.     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（EI检索号：084011617633）

51.     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)

52.     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)

53.     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

54.     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)

55.     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)

56.     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)

57.     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

58.     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

59.     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

60.     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

61.     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

62.     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

63.     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

64.     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 （ISTP检索: BX92C）

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

66.     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

67.     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

 

发明专利

1.         授权发明专利，王党校，张玉茹，吕培军，王勇，陈永刚，王治翔，“虚拟现实牙科手术触感训练支撑平台”（专利号：ZL 200910242042.5），2011年5月4日

2.        授权发明专利, 王党校，张玉茹，姚冲，吴俊，面向签名防伪的多维力觉信息测量数字笔（专利号：ZL 200710064434.8），2010年1月6日

3.         授权发明专利，王党校，张玉茹，王瑜, 周万琳，吴俊，“面向手眼协调操作的力觉视觉融合显示平台”（专利号：ZL200810056484.6），2009年8月19日

4.         授权发明专利，王党校，张玉茹，吴俊，姚冲， “书写训练设备及处理方法”（专利号：ZL 200710303776.0），2010年9月8日

5.         授权发明专利，王党校，张玉茹，刘冠阳，“虚拟空间的触觉力觉反馈人机拔河系统”，（专利号：ZL200810055892.X），2010年4月21日

6.         授权发明专利，张玉茹，曹永刚，王党校，马运忠，"六自由度力觉人机交互装置"（专利号：ZL 200710062916.X），2008.11.12

7.         授权发明专利，王党校, 方磊, 徐牧, 于佳琦, 张玉茹， 一种能够实现六维空间力测量的力矩传感器，专利号：ZL201110190280.3

8.         授权发明专利，王党校, 王治翔, 宋涛，一种用来模拟力觉交互设备操作过程的接触刚度生成装置，专利号：ZL 201110256640.5

9.         授权发明专利，王党校，杨彩玲,张玉茹. 一种实时测量心血管介入手术中导管介入力和力矩的装置. 专利号：ZL 201210185159.6，2013-09-18

10.     授权发明专利，王党校，张欣，刘帅，张玉茹，面向虚拟现实牙科操作训练的多点接触力觉反馈系统，专利号：201110278879.2

11.     授权发明专利，吕培军，王党校，王勇，张玉茹，孙玉春，宋涛，陈中元，王磊. 一种激光式口腔内微型牙体预备自动切削装置. 专利号：ZL 201210193871.0

12.     授权发明专利，郭卫东，王党校，刘冠阳，刘斌，宋传涛，周墨渊，飞机驾驶盘力反馈系统，中华人民共和国发明专利, 专利号：ZL 201010292220.8（申请日2010.9.26）

13.     授权发明专利, 王党校，王磊，张玉茹，马磊，一种口腔内微型自动化牙体预备的切削装置，专利号 ZL201310671482.9

14.     授权发明专利，王党校，徐牧，张玉茹，杨潇潇，杨高峰，穿戴式力觉交互设备及系统，中国发明专利，专利号：ZL 2014100006525

15.     申请发明专利，王党校，杨彩玲，张玉茹. 一种心血管介入手术中的实时导管介入信息测量装置. 申请号：201310156819.2 公开（公告）号：CN103239791A

16.     申请发明专利，张玉茹、刘军传、王党校、李朝斌.一种新型的六自由度力反馈装置.申请号：201210225663.4

17.     申请发明专利，王党校，徐牧，张玉茹，杨潇潇，杨高峰，用于模块化力觉交互设备的音乐调制处理方法，中国发明专利，受理号：2014100009805

18.     申请发明专利，王党校，杨潇潇，张玉茹，徐牧，杨高峰，一种基于精确力量控制和触觉反馈及难度自适应的注意力训练方法，申请号：2015100023474

19.     申请发明专利，王党校，彭聪，杨潇潇，张玉茹，一种沉浸式视觉和离散力控制任务结合的注意力训练系统，中国发明专利，申请号：201610417385.0

20.     申请发明专利，王党校，李腾，张玉茹，杨潇潇，彭聪，一种纯触觉反馈和连续力控制任务结合的注意力训练系统，中国发明专利，申请号：201610780267.6

21.     申请发明专利，王党校，李腾，张玉茹，杨潇潇，彭聪，一种纯声音反馈和连续力控制任务结合的注意力训练系统，中国发明专利，申请号：201610786655.5

22.     申请发明专利，王党校，宋梦，张玉茹，一种气压驱动的力反馈和触觉反馈装置，申请号：201610597525.7，2016年7月27日

23.     申请发明专利，王党校，郑宇铠，宋梦，张玉茹，一种气压驱动的多指协同力反馈和触觉反馈手套装置，申请号：2017*****，2017年**月**日

24.     王党校, 郑一磊, 刘诗怡. 一种基于呼吸和力触觉协同控制的注意力训练方法及系统：中国，201910080456.6[P]. 2019-01-28.

25.     王党校,郭园,杨修平,王海同,张玉茹.一种动支点杠杆式变刚度机构和单指力反馈手套:中国,201910400829.3.

26.     王党校,郭园,王海同,杨修平,张玉茹.一种可调尺寸的变刚度力反馈手套:中国,201910400828.9.

27.     王党校,郭园,王子琦,张玉茹.一种基于高密度柔性电磁线圈阵列驱动的主动纹理呈现装置:中国,201910307279.0.

28.     王党校, 焦健, 张玉茹, 郭兴伟. 一种低摩擦高精度的触觉纹理信息测量系统, 中国发明专利, 201910393700.4., 2019

29.     王党校，王子琦，张昱，张玉茹.一种基于软体驱动器的力反馈手套:中国，201811237973.1. 2018-10-24

30.     王党校，张昱，王子琦，张玉茹.一种多元触觉反馈手套:中国，201811237961.9. 2018-10-24

31.     王党校，张昱，王子琦，张玉茹.一种基于软体变刚度关节驱动器的力反馈手套:中国，201811112345.0. 2018-09-25

32.     王党校，张昱，王子琦，张玉茹.一种移动式多元融合触觉反馈装置: 中国，201811239153.6. 2018-10-24

33.     王党校，张昱，王子琦，张玉茹.一种基于网状结构的纹理反馈装置:中国，201811441321.X. 2018-11-29

34.     王党校，郭琦琦，张玉茹，一种具有多种振动模式的触觉交互装置

35.     王党校，郭琦琦，张玉茹，一种具有多点独立温度反馈的触觉反馈手柄

36.     王党校，张玉茹，郭琦琦，龚翌洁，一种多元触觉融合反馈手柄，申请号：201810843718.5，申请日：2018年7月27日

37.     张玉茹，王党校，陆磊，郭兴伟，一种柔性物体表面触觉反馈装置，申请号：201810842851.9，申请日：2018年7月27日

 

计算机软件著作权

  1. 数字笔识别算法，登记号：2008SRBJ4760 ，2008.08.15
  2. 牙科手术训练力觉渲染算法及软件，登记号：2008SRBJ1439，2008.03.10
  3. 多分辨率实时力觉合成算法及软件，登记号：2008SRBJ1437，2007.11.30

主讲课程

  1. C语言程序设计，本科生课程
  2. 机械原理 ，本科生课程
  3. 触力觉人机交互，研究生课程
  4. Theory of Machines and Mechanisms，英文授课，本科留学生课程
  5. Haptic Human-machine Interaction, 英文授课，留学研究生课程
  6. Modern Product Design Methodology, 英文授课，留学研究生课程

    

 

 

 

Copyright (c) Human-machine Interaction Lab.All Right Reserved