2022发表论文

（论文下载后不能用于商业用途）

1. Cong Peng, Weiwei Peng, Wanwei Feng, Yuru Zhang,Jing Xiao and Dangxiao Wang Hap-pulse: A Wearable Vibrotactile Glove for Medical Pulse Wave RenderingIEEE Transactions on Haptics On page(s): 0 Print ISSN: 1939-1412 Online ISSN: 2329-4051 Digital Object Identifier: 10.1109/TOH.2022.3157832
   
   
2. Yuan Guo, Qianqian Tong, Xianzhong Liu, Xuesong Bian, Zhihao Zhang, Yuru Zhang, Senior Member, IEEE, Weiliang Xu, Senior Member, IEEE, Dangxiao Wang*, Senior Member, IEEEMRS-Tex: A Magnetically Responsive Soft Tactile Device for Texture DisplayIEEE Transactions on Industrial Electronics ( Volume: 69, Issue: 11, Nov. 2022)
   
   

2021发表论文

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1. Soft Exoskeleton Mimics Human Cough for Assisting the Expectoration Capability of SCI Patients. IEEE Transactions on Neural Systems and Rehabilitation Engineering ( Volume: 30)
   
   
2. Cong Peng, Weiwei Peng, Wanwei Feng, Yuru Zhang,Jing Xiao and Dangxiao Wang EEG Correlates of Sustained Attention Variability during Discrete Multi-finger Force Control Tasks. IEEE Transactions on Haptics,vol. 14, no.3, pp.526-537, JULY-SEPTEMBER 2021
   
   
3. Y. Guo, Q. Tong, X. Liu, X. Bian, Z. Zhang, Y. Zhang, W. Xu and D. Wang MRS-Tex: A Magnetically Responsive Soft Tactile Device for Texture Display IEEE Transactions on Industrial Electronics.2021
   
   
4. Y. Guo, X. Yang, H. Wang, Y. Zhang, W. Xu, and D. Wang Five-Fingered Passive Force Feedback Glove Using a Variable Ratio Lever Mechanism Actuators.2021, VOL. 10, NO. 5.
   
   
5. Y. Zheng, B. Tian, Y. Zhang, and D. Wang Effect of Force Accuracy on Hemodynamic Response: An fNIRS Study Using Fine Visuomotor Task. Journal of Neural Engineering.2021.18(5).
   
   

2020发表论文

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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. DK M Arafat Aziz, Hu Luo, Lehiany Asma, Weiliang Xu, Yuru Zhang, and Dangxiao Wang Haptic Handshank: A handheld Multimodal Haptic Feedback Controller for Virtual Reality IEEE ISMAR 2020, pp. 239-250
   
   
3. D. Wang, K. Ohnishi and W. Xu Multimodal Haptic Display for Virtual Reality: A Survey IEEE Transactions on Industrial Electronics,vol. 67, no. 1, pp. 610-623, Jan. 2020
   
   
4. Ziqi Wang, Dangxiao Wang, Yu Zhang, Jiaqi Liu, Li Wen, Weiliang Xu and Yuru 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
   
   
5. 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.
   
   

2019发表论文

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1. 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.
   
   
2. 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.
   
   
3. 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.
   
   
4. 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.
   
   
5. Dangxiao Wang, Kouhei Ohnishi, and Weiliang Xu. Multimodal Haptic Display for Virtual Reality: A Survey. IEEE Transactions on Industrial Electronics, Vol. 67, No. 01, pp. 610-623, January 2020.
   
   
6. Dangxiao Wang, Kouhei Ohnishi, and Weiliang 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. 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.
   
   
8. 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.
   
   
9. 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.
   
   
10. 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.
    
    
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,2019, 13:1209-.
    
    
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. 宋梦, 刘诗怡, 于歌, 郭丽丽, 王党校. 基于手势交互和振动触觉反馈的沉浸式空间液桥实验系统. 虚拟现实与智能硬件，2019，1（2）：219-232
    
    
14. 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.
    
    
15. 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.
    
    
16. 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.
    
    
17. 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.
    
    

2018发表论文

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1. Teng Li, Dangxiao Wang, Cong Peng, Chun Yu, and Yuru Zhang. Speed-Accuracy Tradeoff of Fingertip Force Control with Visual/Audio/Haptic Feedback. International Journal of Human-Computer Studies ,2017:S1071581917301428.
   
   
2. Dangxiao Wang, Cong Peng, Naqash Afzal, Weiang Li,Dong Wu, and Yuru Zhang. Localization Performance of Multiple Vibrotactile Cues on Both Arms. IEEE Transactions on Haptics, 2018, PP(97):11-1.
   
   
3. 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.
   
   
4. Guanyang Liu, Yinong Chen, Zheng Xie. GA\SQP Optimization for The Dimensional Synthesis of a Delta Mechanism Based Haptic Device Design. Robotics and Computer-Integrated Manufacturing,51(2018):73-84.
   
   
5. Xingwei Guo, Yuru Zhang, Dangxiao Wang, Lei Lu,Jian Jiao, Weiliang Xu. Correlation between Electrovibration Perception Magnitude and the Normal Force Applied by Finger. EuroHaptics 2018, LNCS 10893, pp. 91–101, 2018.
   
   
6. Jian Jiao, Yuru Zhang, Dandxiao Wang, et al. Data-Driven Rendering of Fabric Textures on Electrostatic Tactile Displays[C]. IEEE Haptics Symposium, 2018,pp. 169-174.
   
   
7. Lingzhi Liu, Yuru Zhang, Guanyang Liu, Weiliang Xu. Variable motion mapping to enhance stiffness discrimination and identification in robot hand teleoperation[J]. Robotics and Computer–Integrated Manufacturing 51 (2018) 202–208.
   
   
8. Lu Lei, Zhang Yuru, Guo Xingwei, et al. A Surface Texture Display for Flexible Virtual Objects[C]. AsiaHaptics Conference, Incheon, Korea, 2018.[视频]
   
   
9. 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.
   
   
10. Yukai Zheng, Dangxiao Wang, Ziqi Wang, Yu Zhang, Yuru Zhang, Weiliang Xu. Design of a Lightweight Force-Feedback Glove with a Large Workspace[J]. Engineering 4 (2018) 869–880.
    
    
11. 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 [J]. IEEE Transactions on Haptics, vol. 12, No. 1, pp.34-42, 2019.
    
    
12. Yu Zhang, Dangxiao Wang, Ziqi Wang, et al. A two-fingered force feedback glove using soft actuators [C].Haptics Symposium (HAPTICS), 2018 IEEE. IEEE, 2018: 186-191.
    
    
13. 王党校，郑一磊， 李腾，等. 面向人类智能增强的多模态人机交互.中国科学：信息科学, 2018, PP(4): 449-465.
    
    
14. 王丽君, 王党校, 郑一磊, 张玉茹. 基于力位协同控制的注意力状态客观监测方法[J]., 2019, 000(004):P.422-435.
    
    

2017发表论文

（论文下载后不能用于商业用途）

1. P.Zhang, D.Wang, Y.Zhang. Analysis of Correlation Between Image Texture and FrictionCoefficient of Materials[C]. IEEE Instrumentation and Measurement Society.
   
   
2. D. Wang, T. Li, G. Yang, Y. Zhang. Effect of Concurrent and Delayed Visual Feedback on Motor Memory Consolidation. IEEE Transactions on Haptics, 2017, 10(3):350-357.
   
   
3. X. Guo, Y. Zhang, D.Wang, et al. Absolute and discrimination thresholds of a flexible texture display[C]. IEEE World Haptics Conference, 2017:269-274.
   
   
4. Zhang Hongdong, Zhang Yuru, Wang Dangxiao, et al. DentalTouch: A Haptic Display with High Stiffness and Low Inertia.[C]. World Haptics Conference, Munich, Germany, 2017: 388-393.
   
   

2016发表论文

（论文下载后不能用于商业用途）

1. D.Wang, T.Li, Y.Zhang, et al. Survey on multisensory feedback virtual reality dental training systems[J]. European Journal of Dental Education, 2016, 20(4):248-260.
   
   
2. D.Wang, J.Jiao,G.Yang, et al. Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback[J]. IEEE Transactions on Haptics, 2016, 9(3):432-436.
   
   
3. D.Wang, X.Zhao, Y.Shi, et al. Six Degree-of-Freedom Haptic Simulation of a Stringed Musical Instrument for Triggering Sounds[J].IEEE Transactions on Haptics, 2017, PP(99):1-1.
   
   
4. D.Wang, X.Zhao,Y.Shi, et al. Six Degree-of-Freedom Haptic Simulation of Probing Dental Caries within a Narrow Oral Cavity[J].IEEE Transactions on Haptics, 2016, 9(2):279-291.
   
   
5. 王党校, 焦健, 张玉茹,等. 计算机触觉:虚拟现实环境的力触觉建模和生成[J]. 计算机辅助设计与图形学学报, 2016, 28(6):881-895.
   
   
6. N.Afzal,D.Wang, et al. A novel spatial-temporal encoding strategy for presenting time on the wrist using vibrotactile cues[C].IEEE International Conference on Mechatronics and Automation, 2016, pp. 2179-2184.
   
   
7. L.Liu, G.Liu, Y.Zhang. More Identifiable Stiffness Feedback for Dexterous Hand Teleoperation in Unknown Environment[C].International Conference on Virtual Reality and Visualization. IEEE, 2017:312-316.
   
   
8. H.Zhang, Y.Zhang, D.Wang.Real-Time Solutions to the Forward Kinematics of a 2RSS + RRR Parallel Mechanism[M].Mechanism and Machine Science. Springer Singapore, 2017.
   
   
9. 宋梦，王党校，于歌，郭丽丽，张玉茹.面向空间液桥实验的视触融合体感控制研究.第七届云计算学术大会,2016.
   
   
10. 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.
    
    
11. 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.
    
    
12. 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.
    
    

2015发表论文

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1. 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.
   
   
2. D. Wang, Y. Shi, S. Liu, Y. Zhang and J. Xiao. Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip Force. 2015 IEEE World Haptics Conference (WHC), Northwestern University, June 22–26, 2015. Evanston, IL, USA. pp: 408-414.
   
   
3. Mu Xu, Dangxiao Wang, Yuru Zhang, Jian Song and Dong Wu. Performance of simultaneous motion and respiration control under guidance of audio-haptic cues. 2015 IEEE World Haptics Conference, June 22–26, 2015. Evanston, IL, USA, 421-427
   
   
4. Gaofeng Yang, Dangxiao Wang, Yuru Zhang. Comparing the Effect of Concurrent and Delayed Visual Feedback on Consolidating Motor Memory in Force Control. 2015 IEEE World Haptics Conference, June 22–26, 2015. Evanston, IL, USA, 440-444
   
   
5. Wang D, Zhang Y, Yang X, et al. Force control tasks with pure haptic feedback promote short-term focused attention.[J]. IEEE Transactions on Haptics, 2014, 7(4):467-476.
   
   
6. Yi Yang, Betty Lemaire-Semail, Fr´ed´eric Giraud, Michel Amberg, Yuru Zhang, and Christophe Giraud-Audine. Power analysis for the design of a large area ultrasonic tactile touch panel. The European Physical Journal - Applied Physics, 2015, 72 (1), pp.11. <10 .1051/epjap/2015150051>.
   
   

2014发表论文

（论文下载后不能用于商业用途）

1. D. Wang, Y. Zhang, X. Yang, G. Yang, and Y. Yang. Force Control Tasks with Pure Haptic Feedback Promote Short-Term Focused Attention. IEEE Transaction on Haptics, Vol. 7, No. 4, 2014, pp. 467-476
   
   
2. 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
   
   
3. G. Yu, D. Wang, Y. Zhang, and J. Xiao. Simulating sharp geometric features in six degrees-of-freedom haptic rendering.IEEE Transaction on Haptics, vol. 8, no. 1, pp. 67-78, 1 Jan.-March 2015.
   
   
4. 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
   
   
5. 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, 2015, 10(4):482-494.
   
   
6. 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.
   
   
7. 杨高峰，王党校，张玉茹，杨潇潇， 精确力控制的学习曲线和效果转移[J].，中国科技论文，2014，9(10)：1197-1200
   
   
8. 郭卫东，于靖军，王巍. 面向能力培养的课程设计与实践.天津工业大学学报，2014, 33(suppl.):191-193.
   
   
9. 王启申，李继婷. 手康复机器人钢丝绳-绳套传动系统中的摩擦补偿.机器人.2014.36(1):1-7.EI:20141217496912
   
   
10. 于靖军，郭卫东，舒恬. 与机械原理课程教学及其创新型教材配套的项目资源库建设.天津工业大学学报, 2014, 33(suppl.):194-196.
    
    
11. 高翔，郭卫东. 室内移动机器人路径规划算法[J].机械工程与自动化，2015,{4}(01):168-170.
    
    
12. 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. 机械工程学报, 2014, 50(5):10-16.EI: 20141317523456
    
    
13. L Liu, G Liu, Y Zhang, Grasping Control in Three-fingered Robot Hand Teleoperation using Desktop Haptic Device, Eurohaptics Conference, Versailles, France, July 24-27, 2014.
    
    
14. L Liu, G Liu, Y Zhang, D Wang, A Modified Motion Mapping Method for Haptic Device based Space Teleoperation, The 23rd IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, Scotland, UK, August 25-29, 2014.
    
    
15. Yi Yang, Yuru Zhang, Betty Lemaire-Semail and Xiaowei Dai. Enhancing the simulation of boundaries by coupling tactile and kinesthetic feedback， Eurohaptics conference. Versailles, France, June 24-27, 2014
    
    
16. Lei Ma, Dangxiao Wang, Yuru Zhang, Lei Wang, et al. 3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing. 2014 IEEE International Conference on Robotics and Automation (ICRA)
    
    

2013发表论文

（论文下载后不能用于商业用途）

1. D. Wang, X. Zhang, Y. Zhang and J. Xiao,Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation.IEEE Transaction on Haptics, Vol. 6, No. 2, 2013, pp. 167-180 (IDS: 157EA; WOS:),EI:20132616443594
   
   
2. 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,EI:20132516440304
   
   
3. 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, 2015, 10(4):482-494.
   
   
4. D. Wang, Y. Shi, S. Liu, Y. Zhang and J. Xiao,Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations.IEEE International Conference on Robotics and Automation, 2012:1050-1056.
   
   
5. 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,2014.
   
   
6. 杨毅，张玉茹，戴晓伟，徐泉，侯柱，悬浮空间中的触觉反馈在多对象选择任务中的作用[J].软件学报, 2014.
   
   
7. 王启申，李继婷,手康复机器人钢丝绳-绳套传动系统中的摩擦补偿.机器人. 2014, 36(1):1-7.
   
   
8. 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.机械工程学报, 2014, 50(005):10-16.
   
   
9. 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.
   
   
10. 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.
    
    
11. 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.
    
    
12. 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.
    
    
13. 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.
    
    
14. Xiang Gao, Yongsheng Ou, and Weidong Guo, et al,A Novel Local Path Planning Method Considering both Robot Posture and Path Smoothness.International Conference on Robotics and Biomemtics (ROBIO), 2013, Shenzhen, China.
    
    
15. Zheng Xie, Guanyang Liu , Yan Wang, Yuanqi Liu,Design and Analysis of a Novel Mini-type Centrifugal Friction Speed Limiter[c].2013 International Conference on Frontiers of Manufacturing and Design Science(ICFMD)，2014, 496-500:677-682.
    
    
16. Lingzhi Liu,Guanyang Liu,Yuru Zhang,A novel haptic training method through skill decomposition.World Haptics Conference 2013, 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, April 14-18, 2013.
    
    
17. Lei Ma, Yuru Zhang, Dangxiao Wang, et al,Trajectory Tracking Control of a Miniature Laser Manipulation Robotic End-effector for Dental Preparation.2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), Shenzhen, China.
    
    
18. Qishen Wang, Peijiang Yuan, Tianmiao Wang, Maozhen Gong. A Teaching Reform for Mechatronics System Engineering. 2013 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Kagawa, Japan. 2013: 732-737.
    
    
19. 赵阿立，郭卫东，基于Adams用户子程序的交互式仿真过程控制.计算机辅助工程.2013, 22(Z1):450-455.
    
    
20. 郭卫东，黄斌，沙佳杰，韩先国，翻转机构驱动力的优化及ADAMS仿真验证.计算机辅助工程.2013, 22(S1):298-302.
    

2012发表论文

（论文下载后不能用于商业用途）

1. 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.
   
   
2. 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.
   
   
3. 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, vol. 6, no. 2, pp. 167-180, April-June 2013。
   
   
4. 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, 2013, 62(7)。
   
   
5. 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
   
   
6. 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
   
   
7. 姜凤敏, 郭卫东, 张鹏, 赵勇博. 基于虚拟样机技术的移液机械臂的设计与研究[J]. 机械设计与制造, 2012 (已收录)
   
   
8. 宋传涛，郭卫东，刘斌．一种用于飞行模拟力觉交互设备的控制系统设计[J]．机械制造与自动化，2012.3
   
   
9. 刘斌，郭卫东，宋传涛，刘冠阳．一种飞机模拟驾驶力反馈设备的设计与实现[J]．机械设计及自动化，2012.4
   
   
10. Dai, X., J. Gu, et al. (2012). SlickFeel: sliding and clicking haptic feedback on a touchscreen. Adjunct proceedings of the 25th annual ACM symposium on User interface software and technology.ACM, 2012.
    
    
11. Dai, X., J. E. Colgate, et al. (2012). LateralPaD: A surface-haptic device that produces lateral forces on a bare finger. Haptics Symposium (HAPTICS), 2012, pp. 7-14
    
    
12. Kim, J. R., X. Dai, et al. (2012). A masking study of key-click feedback signals on a virtual keyboard. Proceedings of the 2012. international conference on Haptics: perception, devices, mobility, and communication-Volume Part I, 247-257.
    
    
13. 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
    
    
14. Ge Yu, Dangxiao Wang, Yuru Zhang, Xin Zhang, Six Degree-of-Freedom Haptic Simulation of Sharp Geometric Features using a Hybrid Sphere-tree Model, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal.October 7-12, 2012.
    
    
15. Zhongyuan Chen, Yuru Zhang, Dangxiao 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), 2012, Tianjing, China
    
    
16. 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. Accepted
    
    
17. Dangxiao Wang, Cailing Yang, Jiangxia Shi, Yuru Zhang.A portable in-vivo device of friction force and torque measurement for vascular surgery. VECIMS 2012 ,July 2-4,2012,Tianjin,China
    
    
18. 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.
    
    
19. Yan Wang, Guanyang Liu, Chao Chen. Development and Study of a Robot for Transferring Mycobacterium Tuberculosis Samples. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), Dec 11-14,2012, Guangzhou, China, pp 408-413
    
    
20. Yongbo Zhao, Weidong Guo, Fengmin Jiang. Design and Analysis of Follow-up and Goal-oriented Target Tracker Based on Virtual Prototyping. 2012 The 3rd International Conference on Mechanic Automation and Control Engineering(MACE 2012), July 27th, 2012-July 29th, 2012, Baotou, Inner Mongolia, China
    
    
21. Fengmin Jiang, Weidong Guo, Peng Zhang, Yongbo Zhao. Design of Crystallization Experiment Platform and Co-simulation Based on Multi-software. 2012 The 3rd International Conference on Mechanic Automation and Control Engineering(MACE 2012), July 27th, 2012-July 29th, 2012, Baotou, Inner Mongolia, China
    
    
22. Zhu Hou, Yuru Zhang, Yi Yang, Enhancing Touch Screen Games Through a Cable-driven Force Feedback Device, International Conference on Virtual Reality and Visualization, Qinhuangdao, China, 2012, pp.56-61
    
    

2011发表论文

（论文下载后不能用于商业用途）

1. 张耀军, 张玉茹, 李浩, 平面柔索驱动并联机构的灵活工作空间及构型优化, 机械设计与研究, vol.27, no.4, aug. 2011
   
   
2. 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, 机械工程学报, vol.47, no.13, Jul. 2011 (EI：20113214224573)
   
   
3. 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，机械工程学报, vol.47,no.19,Oct.2011(EI：20114614514668)
   
   
4. 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）
   
   
5. 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.[EI：20113214224573]
   
   
6. 张耀军,张玉茹,李浩.平面柔索驱动并联机构的灵活工作空间及构型优化[J].机械设计与研究, 2011,27(4):13-16.[EI：20114614514668]
   
   
7. 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[EI: 20114614514668 ]
   
   
8. 郑若隐,李继婷,王爽,王举.一种外骨骼式人手康复机器人,中国康复医学杂志,2011年,第26卷,第8期:759-762
   
   
9. 宋传涛,郭卫东,刘斌,一种用于飞行模拟力觉交互设备的控制系统设计[J].机械制造与自动化, 2012(02):9-12.
   
   
10. 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[EI： 20113214224413 ]
    
    
11. 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, 2012, 22(005):538-544.[EI： 20122815240223 ]
    
    
12. 宋涛，王党校，王治翔.触觉照相机：表面力觉属性采集装置，系统仿真学报，2012 年，24卷，第 1 期:281-285.
    
    
13. 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, 2011 年4 月,第23 卷第4 期:713-718
    
    
14. 卢可可，刘冠阳，张玉茹，郭卫东，周墨渊. 基于力觉交互的高速率精准操作技能训练方法，计算机工程与应用2011，47（11）:215-218
    
    
15. 刘斌，郭卫东，宋传涛，刘冠阳．一种飞机模拟驾驶力反馈设备的设计与实现[J]．机械制造与自动化， 2012(03):105-108+136.
    
    
    
16. 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. 24, No. 5, pp. 1-12, 2011 [EI: 20122315092970]
    
    
17. Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen,Collocation Accuracy of Visuo-Haptic System Metrics and Calibration, IEEE Transaction on Haptics, vol. 4, no. 4, pp. 321-326, Oct.-Dec. 2011. SCI: 000296334600009
    
    
18. Jun Wu, Dangxiao Wang, and Yuru Zhang, Haptic Display of Rigid Body Contact Using Generalized Penetration Depth, The 4th International Conference on Intelligent Robotics and Applications, Aachen, Germany, Dec. 6-9, 2011. EI： 20120214668434
    
    
19. Jun Wu, Christian Dick, and Rüdiger Westermann, Interactive High-Resolution Boundary Surfaces for Deformable Bodies with Changing Topology, The 8th Workshop on Virtual Reality Interaction and Physical Simulation, Lyon, France, Dec. 5-6, 2011.
    
    
20. Hao Li, Yuru Zhang, Jian S. Dai, Design optimization of parallel manipulators with required pose resolution, IEEE ICRA 2011, May, Shanghai, pp. 3952-3957
    
    
21. 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. EI： 20115114607713
    
    
22. 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 EI： 20111313855305
    
    
23. Dangxiao Wang, Xin Zhang, Yuru Zhang, and Jing Xiao, "Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation," in Proc. IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.
    
    
24. Zhixiang Wang, Dangxiao Wang, Tao Song, Spring-based measurement equipment for evaluation of 3-DOF haptic rendering algorithms, 10th IEEE International Symposium on Haptic Audio Visual Environments and Games, HAVE 2011, October 14-17, 2011, Qinhuangdao, Hebei, China EI: 20115214638622
    
    
25. Shuang WANG, Jiting LI, Ruoyin ZHENG, Zhongyuan CHEN, Yuru ZHANG, Multiple Rehabilitation Motion Control for Hand with an Exoskeleton，IEEE International Conf. on Robotics and Automation, May 2011.
    
    
26. Jiting Li, Ruoyin Zheng, Yuru Zhang, and Jianchu Yao. iHandRehab: an Interactive Hand Exoskeleton for Active and Passive Rehabilitation, IEEE Int. Conf. on Rehabilitation Robotics. June 29-July 1, 2011, Zurich, Switzerland EI: 20114414478351
    
    
27. Miao Feng, Jiting Li, Real-time Deformation Simulation of Hand-Object Interaction, 5nd IEEE International Conference on Robotics, Automation and Mechatronics (CIS&RAM), 2011, Sept. 17-19,. Qingdao, China. pp.154-157.
    
    
28. Miao Feng, Jiting Li, Ruoyin Zheng, Haptic Rendering of Virtual Hand With Force Smoothing, the International Conference on Virtual Reality and Visualization (ICVRV) 2011, Nov.4-5, Beijing, China pp.271-274
    
    
29. Xibo Wang, Jiting Li, Feasibility of a Tele-rehabilitation System with Corrective-Force, the International Conference on Virtual Reality and Visualization (ICVRV) 2011, Nov.4-5, Beijing, China
    
    
30. Chaobin Li, Dangxiao Wang and Yuru Zhang, “iFeel3: a haptic device for virtual reality dental surgery simulation”, International Conference on Virtual Reality and Visualization 2011, Beijing, China. pp.179-184 EI： 20115214640688
    
    
31. 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)
    
    
32. 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
    
    
33. 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
    
    
34. Xin Zhang, Dangxiao Wang, Yuru Zhang and Jing Xiao, Con?guration-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. EI： 20115214647818
    
    
35. Jiao Huimin, Wang Dangxiao, 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 EI： 20113614296011
    
    
36. 宋涛,王党校,王治翔.触觉照相机:表面力觉属性采集装置. ChinaVR’2011, Beijing, China.
    
    
37. 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) EI：20114614521490
    
    
38. Lingzhi Liu， Guanyang Liu， Yuru Zhang， Weidong Guo， Keke Lu， Moyuan Zhou，Separate DOF control and mutual guidance in networked haptic collaboration maze game: Design and evaluation，IEEE International Conference on Robotics and Automation(ICRA)，On page(s): 913 - 918,9-13 May 2011.
    
    
39. Jun Wu, Dangxiao Wang,and Yuru Zhang,Haptic Display of Rigid Body Contact Using Generalized Penetration Depth,The 4th International Conference on Intelligent Robotics and Applications, Aachen, Germany, Dec. 6-9, 2011.
40. 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.(EI：20111313855305)
41. 宋涛，王党校，王治翔. 触觉照相机：表面力觉属性采集装置，系统仿真学报，2012 年，24卷，第 1 期:281-285.

……更新中~…………

2010发表论文

（论文下载后不能用于商业用途）

1. 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, June 2010（SCI. DOI: 10.1115/1.3402759）
   
   
2. 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 International Conference on Computer Animation and Social Agents 2010, vol.21, no.3-4, pp., 2010 (SCI. DOI: 10.1002/cav.348)
   
   
3. 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
   
   
4. 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.
   
   
5. LI Chao-bin, ZHANG Yu-ru, ZHANG Yao-jun, DAI Xiao-wei, Workspace analysis of a 6-DOF cable-driven parallel robot, 2010 International Conference on Mechanism and Machine Science, China, July 21-25, 2010, Shanghai, China
   
   
6. 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.(EI: 20104813423764)
   
   
7. 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，v 46, n 13, p 61-67, 2010 (13)
   
   
8. 李浩，张玉茹，王党校，奇异接近度的评价方法, 机械工程学报,v 46, n 23, p 128-134, 2010 (23)
   
   
9. WANG Shuang, LI Jiting, ZHENG Ruoyin, A Resistance Compensation Control Algorithm for a Cable-Driven Hand Exoskeleton for Motor Function Rehabilitation, IEEE International Conference on Intelligent Robotics and Applications (ICIRA2010) Shanghai, China
   
   
10. Miao Feng, Jiting Li, Graphic and Haptic Rendering of a 4-DOF Virtual Finger Interacted with the Virtual Object at Multiple Contact Points. 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), Tianjin, China
    
    
11. Ruoyin Zheng，Jiting Li，Kinematics and Workspace Analysis of an Exoskeleton for Thumb and Index Finger Rehabilitation. 2010 IEEE International Conference on Robotics and Biomimetics(ROBIO 2010),Tianjin, China.
    
    
12. Shuang WANG, Jiting LI, Ruoyin ZHENG, Active and Passive Control Algorithm for an Exoskeleton with Bowden Cable Transmission for Hand Rehabilitation, The 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), Tianjin，China
    
    
13. 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
    
    
14. Fang Lei, Wang Dang-xiao and Jiao Hui-min, On-line Signature Verification Based on Three-Dimensional Force Signals at Critical Points, ChinaVR’2010, Shanghai, China. vol.1, pp.543-547. (ISBN:978-1-4244-5865-3)
    
    
15. Keke Lu, Guanyang Liu, and Lingzhi Liu, A Study on Haptic Collaborative Game in Shared Virtual Environment. 2010 2nd International Conference on Information and Multimedia Technology (ICIMT 2010)，Hongkong, China.
    
    
16. Zhao Hui, Wang Dangxiao. Soft Tissue Simulation with Bimanual Force Feedback. 2010 International Conference on Audio, Language and Image Processing, ChinaVR'2010. November 23-25, 2010, Shanghai, China. vol.1, pp.903-907. (ISBN:978-1-4244-5865-3)