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王党校 Dangxiao Wang

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王党校

王党校     Dangxiao Wang

出生年月

19769

籍贯

陕西省周至县 

职称

教授(博导) 

学历

工学博士 

电话

010-82338273

办公室

新主楼A303 

系别

机器人研究所 

职务

虚拟现实技术与系统国家重点实验室副主任 

电子信箱

hapticwang@buaa.edu.cn 

传真

010-82317750

个人主页

http://haptic.buaa.edu.cn/EN/English_team_WangDangxiao.htm 

学习经历

? 2000-2004 北京航空航天大学机械设计及理论专业博士;
? 1997-2000西北工业大学飞行器设计专业硕士;
? 1993-1997  陕西工美高梅  机械设计及制造学士;

工作经历

?2004.05~2006.05     北京航空航天大学航空宇航博士后流动站        博士后         航空宇航控制工程

?2006.06~2007.07     北京航空航天大学机器人研究所                讲师           机械工程

?2007.08~2016.07      北京航空航天大学机器人研究所                副教授         机械设计及理论

?2016.08~现在       北京航空航天大学机器人研究所                教授            机械电子工程

 

?2012.01-2013.01       美国University of North Carolina at Charlotte       公派访问学者

?2017.01-2017.02       瑞典卡洛琳斯卡医美高梅                        公派访问学者

?2018.08-2019.02       美国斯坦福大学                             公派访问学者

研究领域

?    机器触觉;
?   人体触觉;
?   医疗和康复机器人;
?    脑机交互;

荣誉及奖励

1.           2015年,北航优秀硕士论文优秀指导教师

2.           2015年,北航第二十五届冯如杯学生学术科技作品竞赛优秀指导教师

3.           2013年,教育部技术发明一等奖,第三完成人(赵沁平、沈旭昆、王党校、齐越、梁晓辉等,“虚实融合技术及应用”)。

4.           2011年,机器人和自动化领域顶级国际会议IEEE International  Conference on Robotics and Automation (ICRA)发表论文获最佳论文提名奖(Best  Manipulation Paper Award – Finalist)。

5.           2008年入选北京市科技新星。

6.           2007年入选北京航空航天大学“蓝天新秀”。

开授课程

?本科生课程: [1]C 语言程序设计》(48学时, 秋季);[2]《机械原理》(40学时, 春季);[3]Theory of Machines and  Mechanisms》(40学时, 留学生全英文授课, 春季)

?研究生课程: [1]Haptic Human-machine Interaction》(硕/博士留学生课程, 32学时, 春季);[2]《触力觉人机交互》(硕/博士研究生课程, 32学时, 秋季)

教学及科研成果

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

 

主持科研项目

1.   国家自然科学基金“支持裸手触觉交互和多尺度纹理呈现的主动电子皮肤”  (61973016),2020.1-2023.12

2.   国家自然科学基金“基于触觉通道的注意力调控机理研究”(61572055), 2016.1-2019.12

3.   国家重点研发计划项目"大数据多模态交互协同关键技术”(2017YFB1002800)课题“视听触虚实配准的强真实感混合呈现技术”(2017YFB1002803),课题负责人, 2017.9-2021.8,在研,主持

4.   国家自然科学基金“面向精细操作模拟的六自由度力觉合成方法”(61170187), 2012.1-2015.12

5.   国家自然科学基金重大项目“面向虚拟手术支撑平台及经皮冠状动脉成形术模拟”子课题“力觉交互的真实感评价方法”, 2012.1-2016.12

6.   国家科技支撑计划“口腔数字化牙体预备系统研究”(2012BAI07B04)子课题“微小空间激光光路自动控制技术与系统”,2012.1-2014.12(已结题)

7.   虚拟现实技术与系统国家重点实验室课题“基于力触觉的神经调控方法研究”,2012.1-2013.12(已结题)

8.   国家自然科学基金“基于双模式触觉交互的灵巧动作技能训练方法研究”  (60605027),2007.1-2009.12 结题评价:优

9.   国家863计划  面向手眼协调操作的触()觉合成和视觉-力觉融合再现技术 (2007AA01Z310) 2007.12-2009.12(已结题)

10.  国家863计划重点项目“虚实融合协同工作的集成环境和关键技术”子课题“多通道人机交互与触力觉装置”二级子课题,2009AA0121052009.1-2010.12(已结题)

11.  北京市自然科学基金“面向签名防伪的力觉特征识别新技术研究”(4082019),2008.1-2010.12(已结题)

12.  中国博士后科学基金“面向钢笔书法训练的力觉导引任务规划和力觉渲染方法研究”,2005.5-2006.5(已结题)

 

学术与社会服务

Ø   亚洲触觉会议(AsiaHaptics  2020)大会主席(General Chair

Ø   IEEE 触觉技术委员会(IEEE Technical Committee on Haptics, TCH) 执行委员会主席,20148月至201712月, (http://www.worldhaptics.org/executive-committee )

Ø   IEEE Transactions on Haptics编委Associate Editor201412月至今

Ø   IEEE 触觉技术委员会执行委员会副主席,20118月至20148

Ø   Digital medicine国际期刊编委,20166月至今

Ø   虚拟现实与智能硬件期刊编委,20181月至今

Ø   IEEE高级会员,中国计算机学会高级会员中国机械工程学会高级会员

Ø   中国计算机学会人机交互专业组委员

Ø  2015IEEE世界触觉会议编辑委员会副编辑(IEEE World Haptics Conference  2015, Associate Editor

Ø   2015IEEE国际机器人与自动化大会分会主席(IEEE International Conference on Robotics and Automation, ICRA 2015,  Session Chair

Ø   2014年欧洲触觉会议国际咨询委员会委员,International advisory  committee, EuroHaptics Conference 2014, Paris, France触觉领域三大主流会议之一

Ø   2014年欧洲触觉会议程序委员会委员,Program Committee,  EuroHaptics Conference 2014, Paris, France触觉领域三大主流会议之一

Ø   2014年机器人科学与系统程序委员会委员,Program Committee,  Robotics Science and Systems (RSS) 2014, Berlin, Germany(机器人领域知名会议)

Ø   Member of International  Program Committee, 10th Workshop on Virtual Reality Interaction and Physical  Simulation (VRIPHYS 2013). Lille, France. (https://vriphys2013.inria.fr/committees/)

Ø   2013IEEE世界触觉会议编辑委员会副编辑(IEEE World Haptics Conference 2013, Associate Editor

Ø   2013IEEE世界触觉会议组织委员会成员(IEEE World Haptics Conference 2013 Organizing Committee member,  Publicity Co-Chair触觉领域顶级会议

Ø   2011IEEE世界触觉会议评奖委员会成员(IEEE World Haptics Conference 2011 Award Committee member触觉领域顶级会议

Ø   2011IEEE国际机器人与自动化大会触觉分会主席(IEEE International Conference on Robotics and Automation, ICRA 2011,  Session Chair of Haptics Session

Ø   国际期刊审稿人,包括IEEE Transaction on Haptics, ACM  Transaction on Graphics, IEEE Transactions on Instrumentation and Measurement,  IEEE Transactions on Systems, Man, and Cybernetics--Part C: Applications and  Reviews, Journal of Computer Science and Technology等期刊;

 

专著

1.           D. Wang, J. Xiao, and Y. Zhang, Haptic rendering for  fine manipulation, Springer, 2014, ISBN 978-3-662-44949-3. http://www.springer.com/computer/hci/book/978-3-662-44948-6

 

期刊论文

1.           D. Wang, K. Ohnishi and W. Xu, "Multimodal Haptic Display for  Virtual Reality: A Survey", IEEE Transactions on Industrial  Electronics, 2020, Vol. 67, No. 01, pp. 610-623

2.           D. Wang, M. Song, A. Naqash, Y. Zheng, W. Xu, and Y. Zhang, Toward  Whole-hand Kinesthetic Feedback: A Survey of Force Feedback Gloves, IEEE  Transactions on Haptics, VOL. 12, NO. 2, APRIL-JUNE, 2019, pp.  189-204

3.           Z.  Wang, D. Wang, Y. Zhang, J. Liu,  L.Wen, W. Xu, and Y. Zhang, A Three-Fingered  Force Feedback Glove using Fiber reinforced Soft Bending Actuators, IEEE  Transactions on Industrial Electronics, 2020, In press

4.           Y. Zhang, D. Wang, Z. Wang, Y. Zhang and  J. Xiao,  Passive Force-feedback Gloves with Joint-based Variable Impedance Using Layer Jamming,  IEEE Transactions on Haptics, In press

5.           X.  Guo, Y. Zhang, W. Xu, and D. Wang,  Effect of Temperature on the Detection and Discrimination Thresholds of  Voltage on Electrovibration Tactile Display,  IEEE Transactions on Haptics, In press

6.           R.  Chu, Y. Zhang, H. Zhang, W. Xu, J. Ryu, D. Wang,  Co-actuation: a Method for Achieving High Stiffness and Low Inertia for  Haptic Devices, IEEE Transactions on Haptics, In press

7.           D. Wang, K. Ohnishi, and W. Xu, Novel Emerging Sensing, Actuation,  and Control Techniques for Haptic Interaction and Teleoperation. IEEE  Transactions on Industrial Electronics, Vol. 67, No. 01, pp. 624-626,  January 2020

8.           D. Wang, T. Li, N. Afzal, et al. Haptics-mediated Approaches for  Enhancing Sustained Attention: Framework and Challenges. Sci China Inf  Sci, 2020

9.           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, In press

10.        Y.  Zheng, D. Wang, Y. Zhang and W. Xu,  Detecting Mind Wandering: An Objective Method via Simultaneous Control of  Respiration and Fingertip Pressure. Frontiers in Psychology,  2019, 10:216. doi: 10.3389/fpsyg.2019.00216

11.        C.  Peng, D. Wang, Y. Zhang, and J. Xiao,  "A Visuo-Haptic Attention Training Game With Dynamic Adjustment of  Difficulty", IEEE Access, 2019, 7, pp. 68878-68891

12.        C.  Peng, D. Wang, and Y. Zhang,  Quantifying Differences among Ten Fingers in Force Control Capabilities by a  Modified Meyer Model. Symmetry, 2019, 11, 1109;  doi:10.3390/sym11091109

13.        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

14.        M.  Liu, J. Zhang, W. Jia, Q. Chang, S. Shan, Y. Hu, D.  Wang, Enhanced Executive Attention Efficiency after Adaptive Force  Control Training: Behavioural and Physiological Results, Behavioural  Brain Research (2019), https://doi.org/10.1016/j.bbr.2019.03.028

15.        X. Guo, Y. Zhang, D. Wang, L. Lu, J. Jiao, and W.  Xu, "The Effect of Applied Normal Force on the Electrovibration," IEEE Transactions on  Haptics, 2019, In press

16.        Y.  Zheng, D. Wang, Z. Wang, Y. Zhang, Y.  Zhang, W. Xu, Design of a Lightweight Force Feedback Glove with a Large  Workspace, Engineering (2018), Vol. 4, Issue 6, Dec. 2018, pp.  869-880

17.        J.  Jiao, D. Wang, Y. Zhang, D. Cao, Y.  Visell, X. Guo, et al., "Detection and Discrimination Thresholds for  Haptic Gratings on Electrostatic Tactile Displays," IEEE  Transactions on Haptics, pp. 1-1, 2018

18.        D. Wang, C. Peng, N. Afzal, W. Li, D. Wu, Y. Zhang, Localization  Performance of Multiple Vibrotactile Cues on Both Arms, IEEE  Transactions on Haptics, 2017, PP(99):1-1.

19.        D. Wang, T. Li, G. Yang, Y. Zhang, Effect of Concurrent and Delayed  Visual Feedback on Motor Memory Consolidation, IEEE Transactions on  Haptics, 2017 Feb 22. doi: 10.1109/TOH.2017.2672549

20.        G.  Liu, X. Sun, D. Wang, Y. Liu, and Y.  Zhang, Effect of Electrostatic Tactile Feedback on Accuracy and Efficiency of  Pan Gestures on Touch Screens, IEEE Transactions  on Haptics, 2017, PP(99):1-1.

21.        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.

22.        D. Wang, X. Zhao, Y. Shi, Y. Zhang and J. Xiao, Six Degree-of-Freedom  Haptic Simulation of a Stringed Musical Instrument for Triggering Sounds, IEEE Transactions  on Haptics, DOI: 10.1109/TOH.2016.2628369

23.        D. Wang, X. Zhao, Y. Shi, Y. Zhang and J. Xiao, Six  Degree-of-Freedom Haptic Simulation of Probing Dental Caries within a Narrow  Oral Cavity, IEEE Transactions on Haptics, DOI:  10.1109/TOH.2016.2531660

24.        S. Zhang,  D. Wang, N. Afzal, Y. Zhang, R. Wu, Rhythmic  Haptic Stimuli Improve Short-term Attention, IEEE Transactions on  Haptics, DOI: 10.1109/TOH.2016.2531662

25.        D. Wang, J. Jiao, G. Yang, Y. Zhang, Force Maintenance Accuracy  Using a Tool: Effects of Magnitude and Feedback, IEEE Transactions on  Haptics, In Press

26.        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

27.        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

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

29.        D. Wang, X. Zhang, Y. Zhang and J. Xiao, Configuration-based  Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation,  IEEE Transactions on Haptics, Vol. 6, No. 2, 2013, pp. 167-180  (IDS: 157EA; WOS:000319877500004)

30.        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

31.        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

32.        D. Wang, Y. Zhang, J. Hou, Y. Wang, P. Lv, Y. Chen, H. Zhao, iDental:  A haptic-based dental simulator and its preliminary evaluation, IEEE Transactions  on Haptics, Vol. 5, No. 4, 2012, pp. 332-343

33.        D. Wang, Y. Zhang, W. Zhou, H. Zhao, Z. Chen, "Collocation  Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE  Transactions on Haptics , Vol. 4, No. 4, Oct. –Dec., 2011, pp.  321-326

34.        D. Wang, Y. Zhang, C. Yao, J. Wu, H. Jiao and M. Liu, “Toward  force-based signature verification: a pen-type sensor and preliminary  validation,” IEEE Transactions on Instrumentation and Measurement,  Volume 59, Number 4, April 2010, pp: 752-762 (SCI000275368500002)

35.       D. Wang, Y. Zhang et al.,  “Cutting on Triangle Mesh Local Model based haptic display for dental  preparation surgery simulation,” IEEE Transactions on Visualization and  Computer Graphics, No. 6, 2005, p671-683 (SCI 检索号: 962VN) 

36.        D. Wang, L. Wang, Y. Zhang, P. Lv, Y. Sun and J. Xiao, Preliminary  study on a miniature laser manipulation robotic device for tooth crown preparation,  The International Journal of Medical Robotics and Computer Assisted  Surgery, 2014 Dec. 10(4):482-94. doi: 10.1002/rcs.1560. Epub 2014 Jan  6

37.        L.  Wang, D. Wang, Y. Zhang, L. Ma, Y.  Sun, and P. Lv, An automatic robotic system for three- dimensional tooth  crown preparation using a picosecond laser, Lasers in Surgery and  Medicine, 2014 Sep. 46(7):573-81. doi: 10.1002/lsm.22274

38.        D. Wang, S. Zhao, T. Li, Y. Zhang, X. Wang, Preliminary Evaluation  of a Virtual Reality Dental Simulation System on Drilling Operation, Bio-Medical  Materials and Engineering, Accepted

39.        D. Wang, T. Li, Y. Zhang, J. Hou, Survey on Multi-sensory Feedback  Virtual Reality Dental Training Systems, European Journal of Dental  Education, In press

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

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

42.        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

43.        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) (SCI000264106500013)

44.        Jun  Wu, Dangxiao Wang, Charlie C.L. Wang,  and Yuru Zhang. “Toward stable and realistic haptic interaction for tooth  preparation simulation,” ASME Transactions - Journal of Computing and  Information Science in Engineering, vol.10, no.2, 021007 (9 pages),  June 2010 (SCI000278575300007)

45.        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

46.        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 (SCI000280135400011)

47.        Guanyang  Liu,Yuru Zhang, Dangxiao Wang,Townsend, Stable haptic interaction using a damping model to implement a  realistic tooth-cutting simulation for dental training,”Springer Virtual Reality Journal , Springer London 2008.3.  EI 082411306091

48.        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

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

50.        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

51.        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

52.        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)

53.        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

54.        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

55.        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

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

57.        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

58.        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

59.        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

60.        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

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

62.        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):4711-4715EI: 074610916629

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

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

65.        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: 71-76EI: 071210502959

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

67.        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.2451-2455EI检索号:04538754555

68.        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.1494-1498EI检索号:04388366490

69.        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

70.        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.97-101EI检索号:04238195626

71.        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

72.        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

73.        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

74.        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 (EI: 2002427143226)

 

会议论文

75.        Yuan  Guo, Dangxiao Wang, Ziqi Wang, Xiuping Yang, Haitong Wang, Yuru Zhang,  Weiliang Xu,“Achieving High Stiffness Range of Force Feedback Gloves using  Variable Stiffness Mechanism,”  IEEE World Haptics Conference  (WHC),  Tokyo, Japan, July 9-12, 2019.

76.        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.

77.        Jian  Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun. HapTex:  A Database of Fabric Textures for Surface Tactile Display [C]. IEEE World Haptics  Conference (WHC), Tokyo, Japan, July 9-12, 2019

78.        Y.  Zhang, D. Wang, Z. Wang, Y. Wang, L. Wen, and Y. Zhang, A Two-Fingered Force  Feedback Glove using Soft Actuators, IEEE Haptics Symposium 2018, Mar. 25-28, San Francisco,  US.

79.        Jian  Jiao, Yuru Zhang, Dangxiao Wang, et al. Data-Driven Rendering of Fabric  Textures on Electrostatic Tactile Displays. IEEE Haptics Symposium, 2018, pp. 169-174

80.        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.

81.        P.  Zhang, D. Wang, Y. Zhang. Analysis of Correlation between Image Texture  and Friction Coefficient of Materials[C]. IEEE Intl Conf on Image Systems and  Techniques, Oct.18-20, 2017, 352-357

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

83.        X.  Guo, Y. Zhang, D. Wang, L. Lu, J. Jiao, and W. Xu, "Correlation Between  Electrovibration Perception Magnitude and the Normal Force Applied by  Finger," EuroHaptics, 2018, pp. 91-101

84.        C.  Peng, D. Wang, Y. Zhang, T. Li, Quantifying Differences between Five  Fingers in Speed-Accuracy Tradeoff for Force Control Tasks, IEEE World Haptics  Conference 2017, The 7th Joint Eurohaptics Conference and IEEE Haptics  Symposium, Jun. 05~09, 2017, Munich, Germany.

85.        H.  Zhang, Y. Zhang, D. Wang, and L. Lu, DentalTouch: A Haptic  Display with High Stiffness and Low Inertia, IEEE World Haptics  Conference 2017, The 7th Joint Eurohaptics Conference and IEEE Haptics  Symposium, Jun. 05~09, 2017, Munich, Germany.

86.        X.  Guo, Y. Zhang, D. Wang, and J. Jiao, Absolute and Discrimination Thresholds of a  Flexible Texture Display, IEEE World Haptics Conference 2017,  The 7th Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 05~09, 2017, Munich,  Germany.

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

88.        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

89.        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

90.        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

91.        M. Xu, D. Wang, Y. Zhang, D. Wu, "Effect of Vibrotactile Cues for Guiding  Simultaneous Procedural Motion of Two Joints on Upper Limbs.", 2015 IEEE/RSJ  International Conference on Intelligent Robots and Systems (IROS2015). Hamburg, Germany, Sep.  28-Oct. 02, 2015

92.        T.  Li, D. Wang, S. Zhang, Y. Zhang, and C.  Yu, Speed-Accuracy Tradeoff of Controlling Absolute Magnitude of Fingertip  Force, IEEE World Haptics Conference 2015, The 6th Joint Eurohaptics  Conference and IEEE Haptics Symposium, Jun. 22~25, 2015, Chicago, US.

93.        M.  Xu, D, Wang, Y. Zhang,J. Song  and D, Wu, Performance of simultaneous motion and respiration control under  guidance of audio-haptic cues, IEEE World Haptics Conference 2015, The 6th  Joint Eurohaptics Conference and IEEE Haptics Symposium, Jun. 22~25,  2015, Chicago, US.

94.        G.  Yang, D. Wang, and Yuru Zhang,  Comparing the Effect of Concurrent and Delayed Visual Feedback on  Consolidating Motor Memory in Force Control, IEEE World Haptics  Conference 2015, The 6th Joint Eurohaptics Conference and IEEE Haptics  Symposium, Jun. 22~25, 2015, Chicago, US.

95.        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

96.        L.  Ma, D. Wang, Y. Zhang, L. Wang, P. Lv,  Y. Sun, 3D Path Planning of a Laser Manipulation Robotic System for Tooth  Preparing, IEEE International Conference on Robotics and Automation,  ICRA 2014, May 31 – Jun. 07, 2014, Hong Kong, China

97.        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

98.       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 

99.        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

100.     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.

101.     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.

102.     D. Wang, S. Liu, J. Xiao, J. Hou, Y. Zhang. Six Degree-of-Freedom  Haptic Simulation of Pathological Changes in Periodontal Operations. 2012  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012).  Vilamoura, Algarve, Portugal October 7-12, 2012. pp. 39-45

103.     G.  Yu, D. Wang, Y. Zhang, X. Zhang, Six  Degree-of-Freedom Haptic Simulation of Sharp Geometric Features using a  Hybrid Sphere-tree Model, 2012 IEEE/RSJ International Conference on  Intelligent Robots and Systems (IROS2012), Vilamoura, Algarve,  Portugal October 7-12, 2012. pp. 3314-3319

104.     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.

105.     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.

106.     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.

107.     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)

108.     Zhixiang  Wang, Dangxiao Wang, Yuru Zhang and  Ming C. Lin, Analysis on Increasing Transparency for Penalty-based Six  Degree-of-Freedom Haptic Rendering, Proc. of the World Haptics  Conference 2011, Istanbul, Turkey, Jun. 21-24, 2011, pp. 83-88

109.     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., pp. 2602-2607

110.     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

111.     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)

112.     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

113.     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.

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

115.     Lei  Fang, Dangxiao Wang, Huimin JIAO,  On-line Signature Verification Based on Three-dimensional Force Signals at  Critical Points, 2010 International Conference on Audio, Language and  Image Processing(ICALIP2010), vol.1, pp.543-547  (EI: 20110713662675)

116.     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

117.     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

118.     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

119.     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

120.     Jun Wu, Dangxiao Wang, Yuru Zhang. Virtual Fixture based Haptic  Rendering of Handwriting. In Proceedings of IEEE International Conference on  Virtual Environments, Human-Computer Interfaces, and Measurement Systems. May 11-13, 2009, Hong  Kong, China. pp. 16-21 EI: 20094312391258

121.     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

122.     Dangxiao WANG, Yuru ZHANG, Yu WANG, Analysis of registration accuracy  for collocated haptic-visual display system, Proc. of the 16th  Symposium on Haptic Interfaces for Virtual Environments and Teleoperator  Systems, Reno, Nevada, U.S. Mar. 13-14, 2008 (EI检索号:083511479770)

123.     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,  2008EI检索号:084011617633

124.     Xiaowei  Dai, Yuru Zhang, Yonggang Cao, Dangxiao Wang, Current Closed Loop Control for Increasing  Virtual Stiffness in Haptic Interaction, 2008 IEEE/ASME International  Conference on Mechatronics and Embedded Systems and Applications,2008,Beijing, China (EI:  20090911933697)

125.     Xiaowei  DAI, Yuru ZHANG, Yonggang CAO and Dangxiao WANG.  Stable Multirate Control Algorithm for Haptic Dental Training System. International Conference  on Intelligent Robotics and Applications(2008ICIRA) (EI 084911762297)

126.     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

127.     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, 2007ISTP:000248533200082(EI: 20080411042530)

128.     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 (EI 20083311449938)

129.     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 (EI: 20072510665539)

130.     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

131.     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

132.     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

133.     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  (RWIA2006), ShanghaiChina, December 8-11, 2006

134.     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

135.     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

136.     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

137.     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 ISTP检索:  BX92C

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

139.     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

140.     Luo  Yangyu, Wang dangxiao, Zhang Yuru,  Development of a Haptic Interface, Proceedings of the 2nd International  Symposium on Instrumentation Science and Technology, Jinan, PR.China,  2002, pp. 272-276

 

 

发明专利

1.           授权发明专利,王党校,张玉茹,吕培军,王勇,陈永刚,王治翔,“虚拟现实牙科手术触感训练支撑平台”(专利号:ZL 200910242042.5),201154

2.           授权发明专利, 王党校,张玉茹,姚冲,吴俊,面向签名防伪的多维力觉信息测量数字笔(专利号:ZL 200710064434.8),201016

3.           授权发明专利,王党校,张玉茹,王瑜, 周万琳,吴俊,“面向手眼协调操作的力觉视觉融合显示平台”(专利号:ZL200810056484.6),2009819

4.           授权发明专利,王党校,张玉茹,吴俊,姚冲,“书写训练设备及处理方法”(专利号:ZL 200710303776.0),201098 

5.           授权发明专利,王党校,张玉茹,刘冠阳,“虚拟空间的触觉力觉反馈人机拔河系统”,(专利号:ZL200810055892.X),2010421

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

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

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

9.           授权发明专利,王党校,杨彩玲,张玉茹. 一种实时测量心血管介入手术中导管介入力和力矩的装置.  专利号:ZL 201210185159.62013-09-18

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

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

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

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

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

15.        申请发明专利,王党校,徐牧,张玉茹,杨潇潇,杨高峰,穿戴式力觉交互设备及系统,中国发明专利,受理号: 2014100006525

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

17.        申请发明专利, 王党校,王磊,张玉茹,马磊,一种口腔内微型自动化牙体预备的切削装置,申请号  201310671482.9

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

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

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

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

22.        申请发明专利,王党校,宋梦,张玉茹,一种气压驱动的力反馈和触觉反馈装置,申请号:201610597525.72016727

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

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

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

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

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

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

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

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

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

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

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

34.        王党校,郭琦琦,张玉茹,一种具有多种振动模式的触觉交互装置

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

36.        王党校,张玉茹,郭琦琦,龚翌洁,一种多元触觉融合反馈手柄,申请号:201810843718.5,申请日:2018727

37.        张玉茹,王党校,陆磊,郭兴伟,一种柔性物体表面触觉反馈装置,申请号:201810842851.9

38.        Yuru Zhang, Dangxiao  Wang, Hongdong Zhang, Jian Song, Xiaohan Zhao, Force feedback handle device  with a degree-of-freedom and working method thereofUnited States Patent, Patent No US 10,394,271 B2,  Date of Patent: Aug-27-2019

39.        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

40.        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

 

计算机软件著作权

1.           数字笔识别算法,登记号:2008SRBJ4760 2008.08.15

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

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

 

 

Last Modified: 2020-02-28 

 

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