Human-machine Interaction Lab Beihang University

Research Outputs

Research Outputs

Journal papers, conference papers and patents. The journal list has been updated with the latest CV and missing-paper statistics. Paper titles link to DOI or source pages when available.

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Journal Papers

Journal Papers

2025

Discrimination Accuracy of Haptic Grating Patterns in Master-Slave Robot Teleoperation

Authors
Yifan Wei, Xintian Cui, Zeyu Li, Qianqian Tong, Dangxiao Wang
Venue
Chinese Journal of Mechanical Engineering
Date
2025 (accepted)
DOI
2022

Stiffness-tunable and shape-locking soft actuators based on 3D-printed hybrid multi-materials

Authors
Jian Jiao, Yuan Guo, Qianqian Tong, Shengkai Liu, Pengfei Qiu, Tao Mei, Dangxiao Wang
Venue
Soft Science
Date
2022
DOI
2010

A hierarchical model of motor skill for haptic-assisted virtual reality training

Authors
Dangxiao Wang, Yuru Zhang, Jun Wu
Venue
The International Journal of Virtual Reality
Date
2010
DOI
2020

融合多元触觉和沉浸式视觉的可移植VR软件框架

Authors
郭园, 童倩倩, 郑宇铠, 王子琦, 张玉茹, 王党校
Venue
系统仿真学报
Date
2020
DOI
2018

面向人类智能增强的多模态人机交互

Authors
王党校, 郑一磊, 李腾等
Venue
中国科学：信息科学
Date
2018
DOI
----

基于力位协同控制的注意力状态客观监测方法

Authors
王丽君, 王党校, 郑一磊, 张玉茹
Venue
中国科学:信息科学
Date
录用
DOI
----

计算机触觉：虚拟现实环境的力触觉建模和生成

Authors
王党校, 焦健, 张玉茹, 赵晓含
Venue
计算机辅助设计与图形学学报
Date
录用
DOI
2012

让虚拟世界真实可触——2012 IEEE 触/力觉研讨会介绍

Authors
王党校, 戴晓伟, 张玉茹
Venue
中国计算机学会通讯
Date
2012
DOI
2014

求解柔索驱动并联机构最大任务空间的区间分析法

Authors
邹愉, 张玉茹, 王党校
Venue
机械工程学报
Date
2014
DOI
2011

力觉交互系统稳定性研究

Authors
张玉茹, 王党校, 戴晓伟, 吴俊, 于歌
Venue
数字制造科学
Date
2011
DOI
2011

书写摩擦力的签名识别方法

Authors
焦慧敏, 王党校, 张玉茹
Venue
自动化学报
Date
2011-07
DOI
----

倾角信息在基于力信息签名识别中的作用分析

Authors
焦慧敏, 王党校, 张玉茹
Venue
高技术通讯
Date
录用
DOI
2011

面向图像感知的轮廓力渲染技术研究

Authors
韩兴光, 李继婷, 王党校
Venue
系统仿真学报
Date
2011-04
DOI
2010

奇异接近度的评价方法

Authors
李浩, 张玉茹, 王党校
Venue
机械工程学报
Date
2010
DOI
2010

6-RSS并联机构工作空间优化算法对比分析

Authors
李浩, 张玉茹, 王党校
Venue
机械工程学报
Date
2010
DOI
2009

基于速度驱动的复杂场景多层级力觉交互算法

Authors
周万琳, 王党校, 张玉茹, 王瑜
Venue
计算机学报
Date
2009-08
DOI
2010

面向牙齿钻削手术仿真的体建模方法

Authors
于歌, 王党校, 张玉茹
Venue
高技术通讯
Date
2010-03
DOI
2007

力觉-视觉融合显示的空间配准方法研究

Authors
王瑜, 王党校, 张玉茹
Venue
系统仿真学报
Date
2007
DOI
2007

面向签名防伪的新型数字笔设计

Authors
姚冲, 王党校, 张玉茹
Venue
系统仿真学报
Date
2007
DOI
2007

基于录制播放的书法动作技能培训

Authors
吴俊, 王党校, 张玉茹
Venue
系统仿真学报
Date
2007
DOI
2007

面向口腔临床操作的力觉交互装置控制系统设计与实现

Authors
曹永刚, 张玉茹, 王党校, 李思桥
Venue
系统仿真学报
Date
2007
DOI
2007

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

Authors
刘冠阳, 张玉茹, 王瑜, 王党校
Venue
系统仿真学报
Date
2007
DOI
2006

力反馈汉字书法模拟的任务规划和逼真度评价方法

Authors
王党校, 张玉茹, 姚冲
Venue
系统仿真学报
Date
2006-08
DOI
2006

面向动作技能训练的力觉交互系统实验研究

Authors
王党校, 张玉茹, 姚冲
Venue
系统仿真学报（增刊）
Date
2006
DOI
2006

面向虚拟现实牙科手术培训的双通道力觉交互系统

Authors
王瑜, 张玉茹, 刘冠阳, 王党校
Venue
材料科学与工艺
Date
2006
DOI
2006

基于线素的力觉人机交互建模和实时渲染方法

Authors
姚冲, 王党校, 张玉茹
Venue
系统仿真学报(增刊)
Date
2006
DOI

Conference Papers

Conference Papers

2023

Neural Correlates of Cooperation during Interactive Visuomotor Task: An fNIRS Hyperscanning Study

Authors
Yilei Zheng, Shiyi Liu, Bohao Tian, Yuru Zhang, Dangxiao Wang
Venue
IEEE World Haptics Conference 2023
Date
2023
DOI
2023

Evaluation of vibrotactile glove and handheld controller in a visuo-haptic VR space station

Authors
Hu Luo, Zejian Zhou, Tianyang Cao, Yufeng Na, Jingwen Nie, Ruixue Bai, Dangxiao Wang
Venue
International Conference on Automation, Robotics and Computer Engineering (ICARCE) 2023
Date
2023
DOI
2022

Modality-Specific Effect of Cueing on Inter-Manual Coordination in Bimanual Force Control Tasks with Accentuated- or Attenuated-Force Production

Authors
Cong Peng, Xin Wang, Xingwei Guo, Jin Liang, Dangxiao Wang
Venue
4th International Asia Haptics Conference (AsiaHaptics) 2022
Date
2022
DOI
2022

Vibrotactile Encoding of Object Features and Alert Levels for the Visually Impaired

Authors
Liwen He, Yun Wang, Hu Luo, Dangxiao Wang
Venue
4th International Asia Haptics Conference (AsiaHaptics) 2022
Date
2022
DOI
2022

Social companionship and diagnosis system for children with autism: a VR system with force and temperature feedback

Authors
Ziqi Wang, Xiangjie Zhou, Yuru Zhang, Dangxiao Wang
Venue
4th International Asia Haptics Conference (AsiaHaptics) 2022
Date
2022
DOI
2020

Haptic Handshank – A Handheld Multimodal Haptic Feedback Controller for Virtual Reality

Authors
K. M. Aziz, Hu Luo, L. Asma, Weiliang Xu, Yuru Zhang, Dangxiao Wang
Venue
IEEE International Symposium on Mixed and Augmented Reality (ISMAR) 2020
Date
2020
DOI
2020

ThermalTex: A two-modal tactile display for delivering surface texture and thermal information

Authors
X. Guo, Y. Zhang, W. Wei, W. Xu, D. Wang
Venue
Eurohaptics Conference 2020
Date
2020
DOI
2020

Vibrotactile flow: vibrotactile feedback glove for simulating fluid impact sensation

Authors
Y. Guo, H. Luo, D. Wang
Venue
全国人机交互学术会议 (CHCI2020)
Date
2020
DOI
2019

Achieving High Stiffness Range of Force Feedback Gloves using Variable Stiffness Mechanism

Authors
Yuan Guo, Dangxiao Wang, Ziqi Wang, Xiuping Yang, Haitong Wang, Yuru Zhang, Weiliang Xu
Venue
IEEE World Haptics Conference (WHC) 2019
Date
2019
DOI
2019

Monitoring Neural Activity during Motion-Force Control Task Using Functional Near-Infrared Spectroscopy

Authors
Yilei Zheng, Dangxiao Wang, Lijun Wang, et al.
Venue
IEEE World Haptics Conference (WHC) 2019
Date
2019
DOI
2019

HapTex: A Database of Fabric Textures for Surface Tactile Display

Authors
Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun
Venue
IEEE World Haptics Conference (WHC) 2019
Date
2019
DOI
2019

Vibrotactile Encoding of Object Features and Alert Levels for the Visually Impaired

Authors
Yijie Gong, Dangxiao Wang, Qiqi Guo, Hu Luo, Yuru Zhang, Jing Xiao
Venue
International Conference on Virtual Reality and Visualization (ICVRV) 2019
Date
2019
DOI
2018

A Two-Fingered Force Feedback Glove using Soft Actuators

Authors
Y. Zhang, D. Wang, Z. Wang, Y. Wang, L. Wen, Y. Zhang
Venue
IEEE Haptics Symposium 2018
Date
2018
DOI
2018

Data-Driven Rendering of Fabric Textures on Electrostatic Tactile Displays

Authors
Jian Jiao, Yuru Zhang, Dangxiao Wang, et al.
Venue
IEEE Haptics Symposium 2018
Date
2018
DOI
2018

Improvement in Stiffness Performance of Force Feedback Devices with Ultrasonic Motors

Authors
Jian Song, Yuru Zhang, Hongdong Zhang, Dangxiao Wang, Weiliang Xu
Venue
IEEE Haptics Symposium 2018
Date
2018
DOI
2017

Analysis of Correlation between Image Texture and Friction Coefficient of Materials

Authors
P. Zhang, D. Wang, Y. Zhang
Venue
IEEE Intl Conf on Image Systems and Techniques 2017
Date
2017
DOI
2018

A Surface Texture Display for Flexible Virtual Objects

Authors
L. Lu, Y. Zhang, X. Guo, D. Wang
Venue
AsiaHaptics Conference 2018
Date
2018
DOI
2018

Correlation Between Electrovibration Perception Magnitude and the Normal Force Applied by Finger

Authors
X. Guo, Y. Zhang, D. Wang, L. Lu, J. Jiao, W. Xu
Venue
EuroHaptics 2018
Date
2018
DOI
2017

Quantifying Differences between Five Fingers in Speed-Accuracy Tradeoff for Force Control Tasks

Authors
C. Peng, D. Wang, Y. Zhang, T. Li
Venue
IEEE World Haptics Conference 2017
Date
2017
DOI
2017

DentalTouch: A Haptic Display with High Stiffness and Low Inertia

Authors
H. Zhang, Y. Zhang, D. Wang, L. Lu
Venue
IEEE World Haptics Conference 2017
Date
2017
DOI
2017

Absolute and Discrimination Thresholds of a Flexible Texture Display

Authors
X. Guo, Y. Zhang, D. Wang, J. Jiao
Venue
IEEE World Haptics Conference 2017
Date
2017
DOI
2017

A pneumatic-driven haptic glove with force and tactile feedback

Authors
M. W. Uddin, X. Zhao, D. Wang
Venue
IEEE International Conference on Virtual Reality and Visualization 2017
Date
2017
DOI
2016

WALS-Robot: A Compact and Transformable Wheel-Arm-Leg-Sucker Hybrid Robot

Authors
D. Zhang, D. Wang
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016
Date
2016
DOI
2016

An Adaptive Strategy for an Immersive Visuo-Haptic Attention Training Game

Authors
X. Yang, D. Wang, Y. Zhang
Venue
EuroHaptics Conference 2016
Date
2016
DOI
2016

Design and Evaluation of a Haptic Watch Using Vibrotactile Cues

Authors
N. Afzal, D. Wang, A. Serir, M. Lara, Y. Zhang
Venue
EuroHaptics Conference 2016
Date
2016
DOI
2016

Co-Actuation: Achieve High Stiffness and Low Inertia in Force Feedback Device

Authors
J. Song, Y. Zhang, H. Zhang, D. Wang
Venue
EuroHaptics Conference 2016
Date
2016
DOI
2015

Effect of Vibrotactile Cues for Guiding Simultaneous Procedural Motion of Two Joints on Upper Limbs

Authors
M. Xu, D. Wang, Y. Zhang, D. Wu
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
Date
2015
DOI
2015

Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip Force

Authors
T. Li, D. Wang, S. Zhang, Y. Zhang, C. Yu
Venue
IEEE World Haptics Conference 2015
Date
2015
DOI
2015

Performance of simultaneous motion and respiration control under guidance of audio-haptic cues

Authors
M. Xu, D. Wang, Y. Zhang, J. Song, D. Wu
Venue
IEEE World Haptics Conference 2015
Date
2015
DOI
2015

Comparing the Effect of Concurrent and Delayed Visual Feedback on Consolidating Motor Memory in Force Control

Authors
G. Yang, D. Wang, Yuru Zhang
Venue
IEEE World Haptics Conference 2015
Date
2015
DOI
2015

Interactive haptic simulation of tooth extraction by a constraint-based haptic rendering approach

Authors
D. Wang, H. Tong, Y. Shi, Y. Zhang
Venue
IEEE International Conference on Robotics and Automation (ICRA) 2015
Date
2015
DOI
2014

3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing

Authors
L. Ma, D. Wang, Y. Zhang, L. Wang, P. Lv, Y. Sun
Venue
IEEE International Conference on Robotics and Automation (ICRA) 2014
Date
2014
DOI
2013

Accelerating Optimization-based Haptic Rendering by Parallel Quadratic Programming Method

Authors
G. Yu, D. Wang, Y. Zhang
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013
Date
2013
DOI
2013

Preliminary experiments of a miniature robotic system for tooth ablation using ultra-short pulsed lasers

Authors
L. Wang, D. Wang, L. Ma, Y. Zhang, F. Yuan, Y. Sun
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013
Date
2013
DOI
2013

A novel design of a wearable device for measuring force and torque in vascular surgery

Authors
D. Wang, C. Yang, Y. Zhang, J. Xiao, Y. Dong, T. Wang
Venue
IEEE International Conference on Robotics and Automation (ICRA) 2013
Date
2013
DOI
2013

Preliminary study on haptics-stimulation based brainwave entrainment

Authors
D. Wang, M. Xu, Y. Zhang, J. Xiao
Venue
IEEE World Haptics Conference 2013
Date
2013
DOI
2013

The influence of master-slave mapping uncertainty on force/torque fidelity of 6-DOF haptic rendering

Authors
D. Wang, Y. Shi, S. Liu, Y. Zhang, J. Xiao
Venue
IEEE World Haptics Conference 2013
Date
2013
DOI
2012

Six Degree-of-Freedom Haptic Simulation of Pathological Changes in Periodontal Operations

Authors
D. Wang, S. Liu, J. Xiao, J. Hou, Y. Zhang
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012
Date
2012
DOI
2012

Six Degree-of-Freedom Haptic Simulation of Sharp Geometric Features using a Hybrid Sphere-tree Model

Authors
G. Yu, D. Wang, Y. Zhang, X. Zhang
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012
Date
2012
DOI
2012

A portable in-vivo device of friction force and torque measurement for vascular surgery

Authors
D. Wang, C. Yang, J. Shi, Y. Zhang
Venue
IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS) 2012
Date
2012
DOI
2012

iFeel6-BH1500: a Large Scale 6-DOF Haptic Device

Authors
Z. Chen, Y. Zhang, D. Wang, et al.
Venue
IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS) 2012
Date
2012
DOI
2012

Six-degree-of-freedom Haptic Simulation of Organ Deformation in Dental Operations

Authors
D. Wang, S. Liu, X. Zhang, Y. Zhang, J. Xiao
Venue
IEEE International Conference on Robotics and Automation (ICRA) 2012
Date
2012
DOI
2011

Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation

Authors
D. Wang, X. Zhang, Y. Zhang, J. Xiao
Venue
IEEE International Conference on Robotics and Automation (ICRA) 2011
Date
2011
DOI
2011

Analysis on Increasing Transparency for Penalty-based Six Degree-of-Freedom Haptic Rendering

Authors
Zhixiang Wang, Dangxiao Wang, Yuru Zhang, Ming C. Lin
Venue
World Haptics Conference (WHC) 2011
Date
2011
DOI
2011

Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering Using Sphere-trees

Authors
Xin Zhang, Dangxiao Wang, Yuru Zhang, Jing Xiao
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011
Date
2011
DOI
2011

Flexible Building Blocks: Modularized Design Concept of A Six-Axis Force/Torque Sensor

Authors
Dangxiao Wang, Lei Fang, Mu Xu, Jiaqi Yu
Venue
International Conference on Mechatronics and Automation (ICMA) 2011
Date
2011
DOI
2011

Visio-haptic simulation for detection of dental cavity profile

Authors
Ge Yu, Dangxiao Wang, Yuru Zhang
Venue
International Conference on Mechatronics and Automation (ICMA) 2011
Date
2011
DOI
2011

Template Construction for Function-based Signature Verification

Authors
Jiao Huimin, Wang Dangxiao, Zhang Yuru
Venue
IEEE Conference on Industrial Electronics and Applications (ICIEA) 2011
Date
2011
DOI
2010

A Novel Haptic Rendering Algorithm for Stable and Precise 6-DOF Virtual Assembly

Authors
Muli Liu, Dangxiao Wang, Yuru Zhang
Venue
ASME World Conference on Innovative Virtual Reality (WINVR) 2010
Date
2010
DOI
2010

Soft Tissue Simulation with Bimanual Force Feedback

Authors
Hui Zhao, Dangxiao Wang
Venue
International Conference on Audio, Language and Image Processing (ICALIP) 2010
Date
2010
DOI
2010

On-line Signature Verification Based on Three-dimensional Force Signals at Critical Points

Authors
Lei Fang, Dangxiao Wang, Huimin Jiao
Venue
International Conference on Audio, Language and Image Processing (ICALIP) 2010
Date
2010
DOI
2009

An Adaptive Haptic Interaction Architecture for Knee Rehabilitation Robot

Authors
Dangxiao WANG, Jiting LI, Chao LI
Venue
IEEE International Conference on Mechatronics and Automation (ICMA) 2009
Date
2009
DOI
2009

牙周操作力反馈模拟技术的评价方法

Authors
王党校, 周万琳, 赵辉, 侯建霞, 陈永刚, 王勇, 吕培军
Venue
中国计算机大会 (CNCC) 2009
Date
2009
DOI
2009

Voxel-based Interactive Haptic Simulation of Dental Drilling

Authors
Jun Wu, Ge Yu, Dangxiao Wang, Yuru Zhang, Charlie C.L. Wang
Venue
ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE) 2009
Date
2009
DOI
2009

Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device

Authors
Xiaowei Dai, Yuru Zhang, Dangxiao Wang
Venue
ASME International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference (CIE) 2009
Date
2009
DOI
2009

Virtual Fixture based Haptic Rendering of Handwriting

Authors
Jun Wu, Dangxiao Wang, Yuru Zhang
Venue
IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems (VECIMS) 2009
Date
2009
DOI
2009

Different role of friction and normal force for force-based signature verification

Authors
Huimin JIAO, Dangxiao WANG, Yuru ZHANG
Venue
IEEE International Conference on Image and Signal Processing (CISP) 2009
Date
2009
DOI
2008

Analysis of registration accuracy for collocated haptic-visual display system

Authors
Dangxiao WANG, Yuru ZHANG, Yu WANG
Venue
Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems 2008
Date
2008
DOI
2008

Haptic Rendering of Tissue Boundary for Surgical Training

Authors
Renge Zhou, Dangxiao Wang, Yuru Zhang
Venue
IEEE/ASME Advanced Intelligent Mechatronics (AIM) 2008
Date
2008
DOI
2008

Current Closed Loop Control for Increasing Virtual Stiffness in Haptic Interaction

Authors
Xiaowei Dai, Yuru Zhang, Yonggang Cao, Dangxiao Wang
Venue
IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (MESA) 2008
Date
2008
DOI
2008

Stable Multirate Control Algorithm for Haptic Dental Training System

Authors
Xiaowei DAI, Yuru ZHANG, Yonggang CAO, Dangxiao WANG
Venue
International Conference on Intelligent Robotics and Applications (ICIRA) 2008
Date
2008
DOI
2007

A novel haptic file format for sharing haptic sensation by record-play method

Authors
Dangxiao Wang, Yuru Zhang, Jun Wu
Venue
International Conference on Human Computer Interaction (HCII) 2007
Date
2007
DOI
2007

Experimental Study on Enlarged Force Bandwidth Control of a Knee Rehabilitation Robot

Authors
Chao Li, Dangxiao Wang, Yuru Zhang
Venue
International Conference on Human Computer Interaction (HCII) 2007
Date
2007
DOI
2007

Design and Analysis of A New Six DOF Haptic Device for Dental Training

Authors
Yonggang Cao, Yuru Zhang, Yunzhong Ma, Dangxiao Wang
Venue
IEEE ROMAN 2007
Date
2007
DOI
2006

Machine-mediated motor skill training method in haptic-enabled Chinese calligraphy simulation system

Authors
D. Wang, Y. Zhang, C. Yao
Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2006
Date
2006
DOI
2006

Spatial-domain consistency between haptic and visual display under geometrical transform

Authors
D. Wang, Y. Zhang, Y. Wang, G. Liu
Venue
EuroHaptics 2006
Date
2006
DOI
2006

Dynamic unilateral constraint (DUC) Unified model for VE-induced instability analysis in haptic system

Authors
D. Wang, Y. Zhang, Y. Cao
Venue
EuroHaptics 2006
Date
2006
DOI
2006

Modeling of Intelligent Behaviour in Haptic Enabled Tug-of-War Simulation

Authors
D. Wang, Y. Zhang, Y. Cao
Venue
Multiconference on Computational Engineering in Systems Applications (CESA) 2006
Date
2006
DOI
2006

Multi-modal virtual reality dental training system with integrated haptic-visual-audio display

Authors
Dangxiao WANG, Yuru ZHANG, Zhitao SUN
Venue
International Conference on Robotic Welding, Intelligence and Automation (RWIA) 2006
Date
2006
DOI
2005

Virtual Tug-of-War Example of Intelligent Virtual Environment in Haptic Interaction

Authors
D. Wang, Y. Zhang et al.
Venue
World Haptics Conference 2005
Date
2005
DOI
2005

Cutting Force Model of Dental Training System

Authors
G. Liu, Y. Zhang, D. Wang
Venue
IEEE/RSJ International Conference on Intelligent Robot and Systems (IROS) 2005
Date
2005
DOI
2004

Effect of haptic device's position resolution on stability

Authors
D. Wang, Y. Zhang
Venue
EuroHaptics 2004
Date
2004
DOI
2003

Development of dental training system with haptic display

Authors
D. X. Wang, Y. Zhang, Y. Wang, P. Lu, Y. Wang
Venue
IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN) 2003
Date
2003
DOI
2003

Stable boundary of virtual mass for a haptic admittance display system

Authors
Luo Yangyu, Wang dangxiao, Zhang Yuru
Venue
Eurohaptics 2003
Date
2003
DOI
2002

The Human-machine Interface Implementation for the Robot-assisted Endoscopic Surgery System

Authors
S. H. Zhang, D. X. Wang, Y. R. Zhang, Y. H. Wang, Y. G. Wang, X. P. Ma
Venue
IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN) 2002
Date
2002
DOI
2002

Development of a Haptic Interface

Authors
Luo Yangyu, Wang dangxiao, Zhang Yuru
Venue
International Symposium on Instrumentation Science and Technology 2002
Date
2002
DOI

International Patents

International Patents

2022

柔性变刚度驱动器以及虚拟现实交互设备

Category
International Patents
Type
PCT国际申请
Inventors
王党校、王子琦、张玉茹、周湘杰、张凯
Application No.
PCT/CN2022/117604
Application Date
2022/9/7
Publication / Grant No.
WO/2023/065872
2022

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Category
International Patents
Type
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Inventors
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Category
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Category
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Category
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Inventors
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Category
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Category
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2017

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授权中国发明Patents
Inventors
王党校、郭园、王海同、杨修平、张玉茹
Application No.
CN201910400828.9
Application Date
2019/5/15
Publication / Grant No.
CN110174945A()
2019

一种动支点杠杆式变刚度机构和单指力反馈手套

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郭园、杨修平、王海同、张玉茹
Application No.
CN201910400829.3
Application Date
2019/5/15
Publication / Grant No.
CN110196637A()
2019

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郭园、王子琦、张玉茹
Application No.
CN201910307279.0
Application Date
2019/4/17
Publication / Grant No.
CN110096147A()
2019

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郑一磊、刘诗怡、张玉茹
Application No.
CN201910080456.6
Application Date
2019/1/28
Publication / Grant No.
CN109806552A
2018

一种基于软体变刚度关节驱动器的力反馈手套

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张昱、王子琦、张玉茹
Application No.
CN201811112345.0
Application Date
2018/9/25
Publication / Grant No.
CN109247638A
2018

一种用于虚拟手力反馈交互的碰撞响应系统

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、姜戈、张玉茹
Application No.
CN201811010997.3
Application Date
2018/8/31
Publication / Grant No.
CN109116992A
2018

一种柔性物体表面触觉反馈装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
张玉茹、王党校、陆磊、郭兴伟
Application No.
CN201810842851.9
Application Date
2018/7/27
Publication / Grant No.
CN109062408A
2018

一种多元触觉融合反馈手柄

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张玉茹、郭琦琦、龚翌洁
Application No.
CN201810843718.5
Application Date
2018/7/27
Publication / Grant No.
CN109085922A
2018

一种基于网状结构的纹理反馈装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张昱、王子琦、张玉茹
Application No.
CN201811441321.X
Application Date
2018/11/29
Publication / Grant No.
CN109634411A
2018

一种多元触觉反馈手套

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张昱、王子琦、张玉茹
Application No.
CN201811237961.9
Application Date
2018/10/23
Publication / Grant No.
CN109375772A
2018

一种基于软体驱动器的力反馈手套

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、王子琦、张昱、张玉茹
Application No.
CN201811237973.1
Application Date
2018/10/23
Publication / Grant No.
CN109460146A
2018

一种移动式多元触觉融合反馈装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张昱、王子琦、张玉茹
Application No.
CN201811239153.6
Application Date
2018/10/23
Publication / Grant No.
CN109343711A
2017

A pneumatic-driven multi-finger force and tactile feedback glove

Category
Domestic Patents
Type
China national invention patent
Inventors
Dangxiao Wang, Yukai Zheng, Meng Song, Yuru Zhang
Application No.
201710629786.7
Application Date
2017/8/15
2017

一种基于手指振动触觉刺激的定向注意力测量系统及方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郭琦琦、张玉茹、彭聪
Application No.
CN201710631280.X
Application Date
2017/7/28
Publication / Grant No.
CN107411761A
2017

一种基于手指振动触觉刺激的警觉注意力测量系统及方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郭琦琦、张玉茹、彭聪
Application No.
CN201710631294.1
Application Date
2017/7/28
Publication / Grant No.
CN107569245A
2017

一种基于手指振动触觉刺激的执行控制注意力测量系统及方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、郭琦琦、张玉茹、彭聪
Application No.
CN201710631302.2
Application Date
2017/7/28
Publication / Grant No.
CN107468259A
2017

一种基于惯性测量装置的力反馈设备手柄的姿态测量方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、赵晓含、姜戈、张玉茹、郝爱民
Application No.
CN201711225384.7
Application Date
2017/11/29
Publication / Grant No.
CN108020223A
2017

一种应用于虚拟口腔手术的支点装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、赵晓含、姜戈、张玉茹、郝爱民
Application No.
CN201711226876.8
Application Date
2017/11/29
Publication / Grant No.
CN107798983A
2016

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、李腾、张玉茹、杨潇潇、彭聪
Application No.
CN201610780267.6
Application Date
2016/8/30
Publication / Grant No.
CN106340221A
2016

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、李腾、张玉茹、杨潇潇、彭聪
Application No.
CN201610786655.5
Application Date
2016/8/30
Publication / Grant No.
CN106355969A
2016

一种气压驱动的力反馈和触觉反馈装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、宋梦、张玉茹
Application No.
CN201610597525.7
Application Date
2016/7/26
Publication / Grant No.
CN106249884A
2016

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、彭聪、杨潇潇、张玉茹
Application No.
CN201610417385.0
Application Date
2016/6/14
Publication / Grant No.
CN106128201A
2016

一种单自由度力反馈手柄装置及其工作方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
张玉茹、王党校、张洪冬、宋健、赵晓含
Application No.
CN201610290764.8
Application Date
2016/5/4
Publication / Grant No.
CN105892687A
2016

反馈力生成方法及装置

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
郝爱民、王党校、孔逸飞、史有皎、赵晓含
Application No.
CN201610250803.1
Application Date
2016/4/21
Publication / Grant No.
CN105955458A
2016

一种应用于力反馈设备的新型六自由度混联机构

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
张玉茹、王党校、张洪冬、赵晓含、储瑞航
Application No.
CN201610941924.0
Application Date
2016/10/25
Publication / Grant No.
CN106335048A
2015

Virtual reality dental surgical simulator

Category
Domestic Patents
Type
China patent
Inventors
Rong Zhang, Dangxiao Wang, Jia Jiao, Xiaohan Zhao
Application No.
ZL201530035488.7
Application Date
2015/2/6
2015

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、杨潇潇、张玉茹、徐牧、杨高峰
Application No.
CN201510002347.4
Application Date
2015/1/5
Publication / Grant No.
CN104524681A
2014

穿戴式力觉交互设备及系统

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、徐牧、张玉茹、杨潇潇、杨高峰
Application No.
CN201410000652.5
Application Date
2014/1/2
Publication / Grant No.
CN 103744509 A
2014

用于模块化力觉交互设备的音乐调制处理方法

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、徐牧、张玉茹、杨潇潇、杨高峰
Application No.
CN201410000980.5
Application Date
2014/1/2
Publication / Grant No.
CN103760974A
2012

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

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、杨彩玲、张玉茹
Application No.
CN201210185159.6
Application Date
2012/6/6
Publication / Grant No.
CN102772847A
2011

面向虚拟现实牙科操作训练的多点接触力觉反馈系统

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张欣、刘帅
Application No.
CN201110278879.2
Application Date
2011/9/16
Publication / Grant No.
CN 102693350 A
2011

一种能够实现六维空间力测量的力矩传感器

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、方磊、徐牧、于佳琦、张玉茹
Application No.
CN201110190280.3
Application Date
2011/7/7
Publication / Grant No.
CN102353482A
2008

面向手眼协调操作的力觉视觉融合显示平台

Category
Domestic Patents
Type
授权中国发明Patents
Inventors
王党校、张玉茹、王瑜、周万琳、吴俊
Application No.
CN200810056484.6
Application Date
2008/1/18
Publication / Grant No.
CN 101217009 A

Expired Patents

Expired Patents

Supplemented from Prof. Dangxiao Wang's latest CV. This list is collapsed by default.

Show 11 patents
2013

一种口腔内微型自动化牙体预备的切削装置

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、王磊、张玉茹、马磊
Patent No.
ZL201310671482.9
Note
Inventors later changed to 吕培军、原福松
2013

一种心血管介入手术中的实时导管介入信息测量装置

Category
Expired Patent
Type
Invention patent application
Inventors
王党校、杨彩玲、张玉茹
Application No.
201310156819.2
Publication / Grant No.
CN103239791A
Status
Expired on 2017/1/4 due to non-payment of annual fee
2012

一种激光式口腔内微型牙体预备自动切削装置

Category
Expired Patent
Type
Granted invention patent
Inventors
吕培军、王党校、王勇、张玉茹、孙玉春、宋涛、陈中元、王磊
Patent No.
ZL 201210193871.0
Status
Expired on 2022/1/18 due to non-payment of annual fee
2012

一种新型的六自由度力反馈装置

Category
Expired Patent
Type
Invention patent application
Inventors
张玉茹、刘军传、王党校、李朝斌
Application No.
201210225663.4
Status
Expired on 2021/3/31 due to non-payment of annual fee
2011

虚拟现实牙科手术触感训练支撑平台

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、张玉茹、吕培军、王勇、陈永刚、王治翔
Patent No.
ZL 200910242042.5
Grant Date
2011/5/4
Status
Expired on 2012/8/9 due to non-payment of annual fee
2011

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

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、王治翔、宋涛
Patent No.
ZL 201110256640.5
Status
Expired on 2019/4/8 due to non-payment of annual fee
2010

面向签名防伪的多维力觉信息测量数字笔

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、张玉茹、姚冲、吴俊
Patent No.
ZL 200710064434.8
Grant Date
2010/1/6
Status
Expired on 2012/11/21 due to non-payment of annual fee
2010

书写训练设备及处理方法

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、张玉茹、吴俊、姚冲
Patent No.
ZL 200710303776.0
Grant Date
2010/9/8
Status
Expired on 2018/8/2 due to non-payment of annual fee
2010

虚拟空间的触觉力觉反馈人机拔河系统

Category
Expired Patent
Type
Granted invention patent
Inventors
王党校、张玉茹、刘冠阳
Patent No.
ZL200810055892.X
Grant Date
2010/4/21
Status
Expired on 2016/9/19 due to non-payment of annual fee
2010

飞机驾驶盘力反馈系统

Category
Expired Patent
Type
Granted invention patent
Inventors
郭卫东、王党校、刘冠阳、刘斌、宋传涛、周墨渊
Patent No.
ZL 201010292220.8
Application Date
2010/9/26
Status
Expired on 2016/6/1 due to non-payment of annual fee
2008

六自由度力觉人机交互装置

Category
Expired Patent
Type
Granted invention patent
Inventors
张玉茹、曹永刚、王党校、马运忠
Patent No.
ZL 200710062916.X
Grant Date
2008/11/12
Status
Expired on 2016/9/29 due to non-payment of annual fee