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张玉茹  教授 博士生导师
yuru@buaa.edu.cn

 

 

简介

学士,1982,大连理工大学
硕士,1984;博士,1987;北京航空航天大学,师从张启先院士。

北京航空航天大学机器人研究所教授,教育部 “跨世纪优秀人才”,航空工业总公司“做出突出贡献的中国博士学位获得者”, 北京市高校青年学科带头人,北京市优秀青年骨干教师。曾任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学院副院长、机器人研究所副所长。

 

 

研究方向  

 

 

主要研究领域为机器触觉、人机交互、手术机器人、虚拟现实手术仿真

 

学会组织任职

 

IEEE Robotics and Automation Letters期刊副编

Springer 专辑Touch and Haptic Systems编委会委员

《机器人》期刊编委

教育部教学指导委员会委员(2006-2018)

IEEE高级会员
ASME会员

IFToMM中国委员会委员

中国机械工程学会高级会员
中国机械工程学会机械传动分会常务委员

 

获奖

 

1.        虚实融合关键技术及应用,教育部技术发明一等奖,2014

2.        虚实融合关键技术及应用,高等学校科学研究优秀成果奖(科学技术)技术发明奖(一等奖),2013年度。

3.        远程无框架脑外科机器人系统,国家科学技术进步奖(二等奖),2008年度。

4.        Eurohaptics 国际会议最佳论文提名奖,2016

5.        IEEE ICRA国际会议最佳论文提名奖,2011

 

专著

 

1.   张玉茹、李继婷、李剑峰,《机器人灵巧手:建模、规划与仿真》,机械工业出版社,2007

2.   李继婷、张玉茹、李剑峰《现代机构学进展》,第二卷,第5章,高等教育出版社,2011ISBN 978-04-033470-8

3.         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

 

大会报告(Keynote)

 

1.         iDental: A Simulator for Dental Skill TrainingIEEE ICRA2015, Seattle, USA

2.         Touching the Digital World, IEEE HAVE2018, Dalian, China

 

最佳论文和提名

 

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 2016, Finalist of Best Paper Award

2.         Dangxiao WangXin ZhangYuru Zhang, and Jing Xiao, Configuration-based optimization for six degree-of-freedom haptic rendering for fine manipulation, 2011 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

 

期刊论文

 

1.       Lingzhi Liu, Yuru Zhang, Guanyang Liu, Peter XuVariable Motion Mapping to Enhance Stiffness Discrimination and Identification in Robot Hand Teleoperation, Robotics and Computer-Integrated Manufacturing51 (2018) 202208

2.       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.

3.       D Wang C Peng N Afzal W Li D WuYuru Zhang,Localization Performance of Multiple Vibrotactile Cues on Both Arms”,IEEE Transactions on Haptics11, Issue:1JANUARY-MARCH 2018pp.97-106

4.       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

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

6.       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

7.       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

8.       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

9.       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

10.   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.

11.   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

12.   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.

13.   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

14.   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

15.   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

16.   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), 167-1802013

17.   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, JULY 2013

18.   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

19.   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.

20.   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.

21.   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

22.   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

23.   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

24.   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

25.   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

26.   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)

27.   Guanyang Liu,Yuru Zhang, Dangxiao Wang, William T. 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

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

29.   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

30.   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

31.   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

32.   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

33.   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

34.   王党校,戴晓伟,张玉茹. 让虚拟世界真实可触——2012 IEEE /力觉研讨会介绍. 中国计算机学会通讯, 2012.8, 8(8):71-76

35.   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20119(1):1-34

36.   张耀军,张玉茹,戴晓伟. 基于工作空间最大化的平面柔索驱动并联机构优化设计[J]. 机械工程学报,2011,47(13):29-34

37.   张耀军,张玉茹. 基于Grassmann线几何的平面柔索驱动并联机构奇异分析[J]. 机械工程学报,2011,47(19):1-7

38.   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. 20117,37,7:883-890

39.   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)

40.   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, 23 卷第4 , Vol. 23 No. 4, 2011 4 , pp. 713-718

41.   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

42.   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

43.   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

44.   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, 20103月,pp. 314-319

45.   曹永刚,张玉茹,6-RSS型并联机构奇异性分析,机械工程学报,44(6)79-872008

46.   曹永刚,张玉茹,马运忠. 6-RSS型并联机构的工作空间分析与参数优化[J],机械工程学报,200844(1)19-24.

47.   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

48.   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

49.   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

50.   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)

51.   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

52.   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

53.   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

54.   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

55.   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)

56.   郭卫东,国欣,张玉茹,2自由度触觉交互装置驱动性能分析,机械工程学报,2005年第8,pp.75-78

57.   国欣,郭卫东,张玉茹 二自由度闭环触觉再现机构的反向驱动性能 北京航空航天大学学报,2005年第7期,pp.753-756

58.   、张玉茹,"虚拟环境中灵巧手主从抓持的实现",《机器人》,2004No. 2,107-110

59.   郭卫东,张玉茹 两自由度闭链触觉再现机构的设计与仿真,中国机械工程,2004, Vol.15, No.5, 438-441

60.   邢宏光、王利红、张玉茹,神经外科手术机器人灵活性分析,北京航空航天大学学报,V30, N4, 2004, pp312-315

61.   刘博,郭卫东,张玉茹,用于灵巧手的新型两自由度关节机构,北京航空航天大学学报,20041月第30卷第1期,pp.40-42

62.   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

63.   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16卷第7期,No. 7, 2004, pp.1494-1498

64.   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

65.   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

66.   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

67.   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

68.   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

69.   孟偲、王田苗、张玉茹等,“遥操作在神经外科手术中的应用研究”,《高技术通讯》,V13, No. 112003,61-65

70.   LI Jiting, ZHANG Yuru, Guo Weidong, ZHANG Ixia, FORCE OPTIMIZATION OF GRASPING BY ROBOTIC HANDSChinese Journal of Mechanical Engineering, Vol. 16, No. 2, 2003:128-131.

71.   刘博、张玉茹、郭卫东、刘杰,“用于灵巧手的新型两自由度关节机构”,《北京航空航天大学学报》,2003年第十期

72.   刘达、王田苗、张玉茹、胡磊、李伟,“面向微创手术的医疗外科机器人构型综合”,《机器人》,No. 2,2003132-135

73.   、张玉茹,刘博,“人手到灵巧手的运动映射实现”,《机器人》,2003No. 5

74.   、张玉茹,“机器人灵巧手抓持分类器的设计与实现”,《机器人》,2003No. 3259-263

75.   李继婷、苏文魁、张玉茹、郭卫东,“具有运动耦合关节的灵巧手运动学反解”,《机器人》,No.72003674-676

76.   苏文魁、李继婷、郭卫东、刘博、张玉茹,“4DOF仿人手概念设计与抓持能力分析”,《机器人》,No.72003656-660

77.   李继婷,张玉茹,郭卫东,“机器人多指手灵巧抓持规划”,《机器人》,2003No. 5

78.   李继婷,张玉茹,张启先,“人手抓持识别与灵巧手的规划”,《机器人》,No. 6, 2002

79.  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

80.   韩壮志、王田苗、张玉茹、尚喜生,“基于DSP的多轴伺服控制器设计及其在灵巧手中的应用”,《高技术通讯》,2002No. 370-74

81.   李剑峰,张玉茹,张启先,“具有滚动接触的多指手操作运动学及其算法”, 《自动化学报》,2002Vol. 28, No. 2238-243

82.   Jiting Li, Yuru Zhang and Qixian Zhang, “Calculation of Contact Forces in Grasping by Space Decomposition,” Chinese Journal of Aeronautics, V14, No. 2, 2001, pp.112-117

83.   李剑峰,张玉茹,张启先,“手指机构的力操作灵巧性分析”, 《机器人》,2000No.2

84.   李剑峰,张玉茹,张启先,“多指手的操作灵巧性设计”, 《机械工程学报》,2000No. 1123-29

85.   郭卫东、赵辉、张玉茹,“机器人驱动器载荷计算方法”, 《机器人》,2000No.7A

86.   尚喜生、郭卫东、张浩、韩壮志、张玉茹、王田苗,“BH-4灵巧手抓持规划与实现”, 《机器人》,2000No.7A

87.   李剑峰,张玉茹,张启先,“手指机构的速度操作灵巧性分析”, 《机器人》,1999Vol. 21, No. 2, 110-116

88.   李剑峰,张玉茹,张启先,“一类Power抓持接触力分解的一般表达式”, 《机器人》,1999Vol. 21, No.6, 407-414

89.   Jianfeng Li, Yuru Zhang, Qixian Zhang, “Robustness of Multiple-Limb Manipulation Systems”, Chinese Journal of Aeronautics,1999, Vol. 12, No. 1, 41-47

90.   张玉茹, Willam A. Gruver, “抓持接触力的子空间分解表示”, 《机械工程学报》,1999, Vol. 35, No. 1, 43-46

91.   张玉茹,张启先,Willam A. Gruver,"基于抓持分类的接触力分解",《机械科学与技术》,1997.  No.1

92.   徐卫平,张玉茹,"六自由度微动机构的运动分析",《机器人》,1995, No. 5

93.   张启先,张玉茹," 我国机械学研究的新进展",《机械工程学报》,1996年第4

94.   张玉茹, Willam A. Gruver, "机器人手的抓持分类方法",《机械工程学报》(英文版), 1996年第4

95.   张玉茹,"机器人臂机构的动力学解耦设计",《机械科学的未来》,机械工业出版社,1994

96.   张玉茹,"动力学解耦的平面多自由度机构设计",《机器人》,1994, No. 1

 

会议论文

 

1.       Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu, Jian Jiao and Weiliang Xu, Correlation Between Electrovibration Perception Magnitude and the Normal Force Applied by FingerEuroHaptics 2018, LNCS 10893, pp. 91101, 2018

2.       J. Song, Y. Zhang, H. Zhang, and D. Wang, “Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors,” Haptics Symposium, 2018.

3.       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.

4.       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

5.       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

6.       Yang Xiaoxiao; Wang Dangxiao; Zhang YuruAn Adaptive Strategy for an Immersive Visuo-Haptic Attention Training GameEuroHaptics 2016

7.       Naqash Afzal; Wang Dangxiao; Amine Serir; Zhang YuruDesign and Evaluation of a Haptic Watch Using Vibrotactile CuesEuroHaptics 2016

8.       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.

9.       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.

10.   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

11.   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

12.   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

13.   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

14.   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

15.   D. WangC. 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

16.   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

17.   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.

18.   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.

19.   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.

20.   Yu Zou, Yuru Zhang, Yaojun Zhang. On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry. Proceedings of ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. 2012, Chicago, IL, USA

21.   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.

22.   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.

23.   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.

24.   Yu Zou and Yuru Zhang. Wrench Capability Analysis of Cable-driven Parallel Mechanisms. ASME 2011 International Design Engineering Technical Conference (IDETC), Washington, DC, USA

25.   Yi Yang; Yuru Zhang; Zhu Hou; ZhongYuan Chen; Lemaire-Semail, B. FingViewer: A new multi-touch force feedback touch screen, Consumer Electronics (ICCE), 2011 IEEE International Conference on, pp.837-838, 9-12 Jan. 2011

26.   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.

27.   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)

28.   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

29.   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.

30.   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

31.   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)

32.   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

33.   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

34.   Hao Hu, Yuru Zhang, Xiaowei Dai and Yaojun Zhang, The Analysis of Resolution for Cable-driven Haptic Device, 2010 IEEE International Conference on Robotics and Biomimetics, pp.715-719

35.   Keke Lu, Guanyang Liu, Yuru Zhang, Weidong Guo and Moyuan Zhou, Two-mode System for Tank Gunnery Skill Training Based on Haptic Interaction. 2010 IEEE International Conference on Mechatronics and Automation (ICMA 2010)Xi'an, China. pp. 1449-1453.

36.   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.

37.   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.

38.   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 

39.   Yaojun Zhang, Yuru Zhang, Xiaowei Dai, et al.  Workspace analysis of a novel 6-dof cable-driven parallel robot. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009). Guilin, China, pp 2403-2408

40.   Hao Li, Yuru Zhang, Yi Yang, SINGULARITY-FREE TASKSPACE OPTIMIZATION OF 6-RSS MECHANISMS, ASME2009/IDETC, San Diego, 2009.8, v 7, n PART B, p 1237-1244

41.   Yi Yang, Yuru Zhang, A New Cable-driven Haptic Device for Integrating Kinesthetic and Cutaneous Display, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009) [P], London, United Kingdom, June 22-24, 2009, pp. 386-391

42.   Ju Wang, Jiting Li, Yuru Zhang, Shuang Wang, Design of an Exoskeleton for Index Finger Rehabilitation, Proceedings of the 31st Annual International IEEE EMBS Conference,2009, Minneapolis, MN, USA, pp: 5957 - 5960

43.   WANG Shuang, LI Jiting, ZHANG Yuru, WANG JuActive and Passive Control of an Exoskeleton with Cable Transmission for Hand RehabilitationInternational Conference on BioMedical Engineering and Informatics (BMEI 2009)17-19 Oct 2009Tianjin,China

44.   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

45.   王党校,周万琳, 辉,侯建霞, 陈永刚, , 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

46.   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

47.   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

48.   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

49.   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

50.   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

51.   Yang.Y, Zhang Yuru, Zhang Yaojun, Cao Yonggng. Singularity-Free Task Workspace Analysis of a New Six-dof Parallel Haptic Device[C], ASME IDETC/CIE2008IDETC2008-49117,August,2008,New York

52.   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

53.   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

54.   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)

55.   Jisheng Zhang, Jiting Li, Mileta M. Tomovic, Yuru Zhang, Stability Control of Haptic Interface, Proceedings of 2007 ASME International Mechanical Engineering Congress and Exposition, Nov11-15, 2007, Seattle, Washington, USA: 1-6

56.   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

57.   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

58.   Yonggang Cao, Yuru Zhang, Yunzhong Ma, Dangxiao Wang. Design and Analysis of A New Six DOF Haptic Device for Dental TrainingIEEE ROMAN 2007 Conference, Jeju, Korea, Aug. 26~29, 2007

59.   D. Wang, Y. Zhang, C. Yao, Machine-mediated motor skill training method in haptic-enabled Chinese calligraphy simulation systemProceedings of 2006 IEEE International conference on Intelligent robot and systems, IROS 2006Beijing, ChinaOct. 9~152006

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

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

62.   D. Wang, Y. Zhang, Y. Cao, Modeling of Intelligent Behaviour in Haptic Enabled Tug-of-War SimulationThe Multiconference on "Computational Engineering in Systems Applications"CESA 2006Beijing, ChinaOct. 4~62006

63.   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), ShanghaiChina, December 8-11, 2006

64.   Liu, Guanyang; Zhang, Yuru , Stable haptic interaction using damping model for dental training, Proceedings - VRCIA 2006ACM International Conference on Virtual Reality Continuum and its Applications, v 2006, p 409-412

65.   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

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

67.   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

68.   Jie Liu, Yuru Zhang, Dataglove Based Grasp Planning for Multi-fingered Robot Hand, Proceedings of the 11th World Congress in Mechanism and Machine ScienceApril 1-4, 2004Tianjin, China, China Machinery Press, edited by Tian Huang

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

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

71.   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

72.  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

73.  Jianfeng Li, Yuru Zhang, Qixian Zhang and William A. Gruver, “An Algorithm For The Kinematics Of Dexterous Manipulation,” Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics, 1999, Vol. 4, 792-797

74.   Yuru Zhang, Feng Gao, Yidong Zhang and William A. Gruver, “ Evaluating the Quality of Grasp Configurations for Dexterous Hands,” Proc. of IEEE Int. Conf. on Robotics and Automation, 1997, Vol. 1: 100-105

75.   Yuru Zhang and William A. Gruver, " Classification of Grasps by Multifingered Robot Hands", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, V3, 1052-1059, 1996

76.   Yuru Zhang, Feng Gao and William A. Gruver, "Determination of Contact Forces in Grasping," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, V3, 1038-1044, 1996

77.   Yuru Zhang, Feng Gao, Yidong Zhang and W. A. Gruver, "Dimensional Synthesis of a Flexible End-Effector with a High Degree of Stability," Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics, V2, 1025-1030, 1996

78.   Feng Gao, William A. Gruver and Yuru Zhang, “Performance Charts for the Design of Robotic Mechanisms with Three Moving Links,” IEEE Int. Conf. on Systems, Man and Cybernetics, V2, 1025-1030, 1996

79.   Feng Gao, William A. Gruver, Hongrui Wang and Yuru Zhang, “A Geometric Model for Analysis and Design of Delta Parallel Robots,” ASME Design Engineering Technical Conference, August 18-22, 1996, 96-DETC/MECH-1082

80.   Yuru Zhang and W. A. Gruver, "Definition and Force Distribution of Power Grasps," Proc. of IEEE Int. Conf. on Robotics and Automation, 1995, Vol. 1: 1373-1378

81.   Yuru Zhang and W. A. Gruver, "Selection of Hand Configurations for Power Grasps," Proc. of IEEE Int. Symp. on Assembly and Task Planning, 1995, pp. 73-79

82.   Yuru Zhang and W. A. Gruver, "Force Distribution of Power Grasps Based on the Controllability of Contact Forces," Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics, 1995, Vol. 1: 83-88

83.   Yang Yang, Yuru Zhang and Qixian Zhang, "A Performance Evaluation of BH-2 Dexterous Robotic Hand," Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics, 1995, Vol. 1: 922-927

84.   Yuru Zhang, "A Dynamic Model for the Simulation of Coordinated Control of Two Robots," Proc. of the Second Int. Conf. on Automation, Robotics and Computer Vision, Singapore, September 1992, Vol. 3, RO-7.7

85.    Yuru Zhang and Qixian Zhang, "A Force Method of the Singularity Analysis of Manipulators," Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics, 1988, Vol. 1: 263-267, 1988.8., Shenyang, China

86.   Yuru Zhang and Qixian Zhang, "Conditions for Separating Four Branches of Spatial Four-Bar Linkages," ASME Paper 86-DET-177, ASME Design Engineering Technical Conference, 1986.

87.   Yuru Zhang and Qixian Zhang, "Characteristic Functions of Mechanisms. Part 1: Formulation via Force Method," ASME Paper 86-DET-178, ASME Design Engineering Technical Conference, 1986.

88.   Yuru Zhang and Qixian Zhang, "Characteristic Functions of Mechanisms. Part 2: Applications," ASME Paper 86-DET-179, ASME Design Engineering Technical Conference, 1986.

89.   Yuru Zhang and Qixian Zhang, “ On Stationary Configurations and Grashof Conditions of Spatial Four-Bar Linkages”, Proc. Of 4th IFToMM International Symposium on Linkages and CAD Methods,V2, pp.477-484, 1985.2, Bucharest, Romania.

 

授权发明专利

 

1.  张玉茹,王党校,张洪冬,宋健,赵晓含。一种单自由度力反馈手柄装置及其工作方法。中国专利:ZL201610290764.8

2.  张玉茹,王党校,张洪冬,赵晓含,储瑞航。一种应用于力反馈设备的新型六自由度混联机构。ZL201610941924.0

3.       张玉茹,李朝斌,陈中元、刘军传,“一种能实现快速重构的绳驱动并联机器人”ZL 2011 1 0026500.92012.5.9

4.  张玉茹、张耀军、戴晓伟、刘冠阳,“可重构式柔索驱动并联机器人及其驱动装置”,ZL200910088558.92011.06.22

5.  张玉茹、陈中元,“一种适用于毛笔汉字书写的五自由度运动装置”,ZL2009 1 0089158.X2012.5.23  

6.       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.  张玉茹、曹永刚、王党校、马运忠,“六自由度力觉人机交互装置”,ZL 200710062916.X2008.11.12

8.  张玉茹、刘博、郭卫东,“机器人灵巧手机构”,ZL02155646.62006.11.15

9.  张玉茹、王田苗、丑武胜、刘军传等,“医疗机器人视觉注册方法”,ZL200310122495.72006.11.29

10. 张玉茹、郭卫东、张世清、姜俊杰、曹永刚,“三自由度力觉交互装置”,ZL200510115907.32007.12.19

11. 张玉茹、杨毅,“一种具有抓持力反馈的四自由度柔索驱动人机交互装置”,ZL 2009 1 0238686.72011.09.28

12.   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ZL 200910242042.5201154

13.   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),201016

14.   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),2009819

15.   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),201098

16.   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),2010421

 

计算机软件著作权

 

1.         脑外科机器人双目视觉定位应用软件(Vision V1.0),2006SRBJ18192006.8.18

2.         多分辨率实时力觉合成算法及软件,登记号:2008SRBJ14372007.11.30

3.         数字笔识别算法,登记号:2008SRBJ47602008.08.15

4.         牙科手术训练力觉渲染算法及软件,登记号:2008SRBJ14392008.03.10

 

主持基金项目

 

1.   “牙科手术模拟触觉交互系统稳定性研究”,国家自然科学基金

2.   “面向口腔临床操作模拟训练系统的触觉再现技术研究”,国家自然科学基金

3.   “面向服务机器人的多用途触/力觉交互设备”,863计划

4.   “力觉交互装置研究”,教育部跨世纪优秀人才基金

5.   “机器人灵巧手:设计、控制与规划”,国家自然科学基金专著基金

6.   “基于6维力传感器的灵巧手控制和操作规划”,国家自然科学基金

7.   “远程脑外科机器人辅助手术系统研究”,863计划

8.   “考虑控制的机器人动力学设计”,国家自然科学基金

9.   “微动并联机器人的研制”,国家自然科学基金

 

主讲课程

 

1.         机器人运动学与动力学,研究生课程

2.         空间机构分析与综合,研究生课程

3.         机械原理,本科生课程

4.         产品设计与虚拟样机,本科生课程

5.        机械设计课程设计,本科生课程

 

 


 

 

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