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教學(xué)成果
1. 指導(dǎo)本科生陳中元獲馮如杯一等獎(jiǎng)（北航“小神童”），并獲大學(xué)生科技明星稱號(hào)
2. 指導(dǎo)博士生劉軍傳獲北航優(yōu)秀博士論文(腦外科機(jī)器人系統(tǒng)定位精度研究),并獲2006 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications最佳學(xué)生論文獎(jiǎng)
3. 指導(dǎo)博士生吳俊獲全國(guó)研究生數(shù)學(xué)建模競(jìng)賽二等獎(jiǎng)，北航研究生優(yōu)秀論文獎(jiǎng)
4. 指導(dǎo)碩士生周人歌獲北航優(yōu)秀碩士論文
5. 指導(dǎo)碩士生王瑜獲校優(yōu)秀碩士畢業(yè)生稱號(hào)
6. 指導(dǎo)碩士生郭玲、王瑜獲校優(yōu)秀研究生稱號(hào)
7. 指導(dǎo)碩士劉慕利獲研究生學(xué)術(shù)科技創(chuàng)新優(yōu)秀獎(jiǎng)
出版專著
張玉茹、李繼婷、李劍峰，《機(jī)器人靈巧手：建模、規(guī)劃與仿真》，機(jī)械工業(yè)出版社，2007
代表性期刊論文
（論文信息詳見(jiàn)網(wǎng)頁(yè)http://haptic.buaa.edu.cn）
1. D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE Transaction on Haptics , 6(2), pp 167-180, 2013/6APR-JUN.
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, 62(7), pp 1951-1959, 2013/7.
3. Liu, Guanyang; Lu, Keke; Zhang, Yuru, Haptic-Based Training for Tank Gunnery Using Decoupled Motion Control , IEEE COMPUTER GRAPHICS AND APPLICATIONS, 33(2), pp 73-79, 2013/4MAR-APR
4. Liu, Guanyang; Lu, Keke; Zhang, Yuru; Liu, Lingzhi, Networked Haptic Interaction to Implement "Hand in Hand" Human Motor Skill Training for Tank Gunnery, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, V10, 2013/2/19.
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. 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..
7. Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics , Vol. 4, No. 4, Oct. –Dec., 2011, pp. 321-326
8. Dangxiao WANG, Yuru ZHANG, Chong YAO, Jun WU, Huimin JIAO and Muli LIU, “Toward force-based signature verification: a pen-type sensor and preliminary validation,” IEEE Transactions on Instrumentation and Measurement, Volume 59, Number 4, April 2010, pp: 752-762
9. 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
10. Jun Wu, Dangxiao Wang, Charlie C.L. Wang, and Yuru Zhang. “Toward stable and realistic haptic interaction for tooth preparation simulation,” ASME Transactions - Journal of Computing and Information Science in Engineering, vol.10, no.2, June 2010
11. 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
12. 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 (王黨校，張玉茹等,面向牙科手術(shù)培訓(xùn)的力覺(jué)合成技術(shù), 中國(guó)科學(xué)[F]，2009年第39卷第1期：159~174)
13. 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
14. Guanyang Liu,Yuru Zhang,Townsend, Force Modelling for Tooth Preparation in Dental Training System ,Virtual Reality[J],Springer London 2008.6
15. Liu, Junchuan; Zhang, Yuru; Li, Zhen, Improving the positioning accuracy of a neurosurgical robot system, IEEE/ASME Transactions on Mechatronics, v 12, n 5, October, 2007, p 527-533
16. 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
17. Liu, Guanyang; Zhang, Yuru , Stable haptic interaction using damping model for dental training, Proceedings - VRCIA 2006ACM International Conference on Virtual Reality Continuum and its Applications, v 2006, Proceedings - VRCIA 2006: ACM International Conference on Virtual Reality Continuum and its Applications, 2006, p 409-412
18. D. Wang, Y. Zhang et al., “Cutting on Triangle Mesh Local Model based haptic display for dental preparation surgery simulation,” IEEE Transaction on Visualization and Computer Graphics, No. 6, 2005, p671-683
19. Yuru Zhang and W. A. Gruver, Jiting Li and Qixian Zhang, "Classification of Grasps," IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 31, No. 3, 2001, 436-444
20. Yuru Zhang and William A. Gruver, “A Method for Simplifying Dynamics of Manipulators with Closed Chains”, Robotics and Autonomous Systems, Vol. 28, No. 4, 1999, 261-269
代表性會(huì)議論文
- 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.
- 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.
- 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.
- 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. .
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- 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)
- 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
- 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.
- 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
- 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.
- Hao Li, Yuru Zhang, Yi Yang, SINGULARITY-FREE TASKSPACE OPTIMIZATION OF 6-RSS MECHANISMS, ASME2009/IDETC, San Diego, 2009.8, v 7, n PART B, p 1237-1244
- Ju Wang, Jiting Li, Yuru Zhang, Shuang Wang, Design of an Exoskeleton for Index Finger Rehabilitation, Proceedings of the 31st Annual International IEEE EMBS Conference,2009, Minneapolis, MN, USA, pp: 5957 - 5960
- 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
- 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
授權(quán)發(fā)明專利
1. 張玉茹、劉博、郭衛(wèi)東，“機(jī)器人靈巧手機(jī)構(gòu)”，ZL02155646.6，2006.11.15，
2. 張玉茹、王田苗、丑武勝、劉軍傳等，“醫(yī)療機(jī)器人視覺(jué)注冊(cè)方法”，ZL200310122495.7，2006.11.29
3. 張玉茹、郭衛(wèi)東、張世清、姜俊杰、曹永剛，“三自由度力覺(jué)交互裝置”，ZL200510115907.3，2007.12.19
4. 張玉茹、曹永剛、王黨校、馬運(yùn)忠，“六自由度力覺(jué)人機(jī)交互裝置”，ZL 200710062916.X，2008.11.12
5. 張玉茹、張耀軍、戴曉偉、劉冠陽(yáng)，“可重構(gòu)式柔索驅(qū)動(dòng)并聯(lián)機(jī)器人及其驅(qū)動(dòng)裝置”，ZL200910088558.9，2011.06.22
6. 張玉茹、楊毅，“一種具有抓持力反饋的四自由度柔索驅(qū)動(dòng)人機(jī)交互裝置”，ZL 2009 1 0238686.7，2011.09.28
7. 張玉茹,李朝斌,陳中元、劉軍傳，“一種能實(shí)現(xiàn)快速重構(gòu)的繩驅(qū)動(dòng)并聯(lián)機(jī)器人”，ZL 2011 1 0026500.9，2012.5.9
8. 張玉茹、陳中元，“一種適用于毛筆漢字書寫的五自由度運(yùn)動(dòng)裝置”，ZL2009 1 0089158.X，2012.5.23
9. 王黨校，張玉茹，呂培軍，王勇，陳永剛，王治翔，“虛擬現(xiàn)實(shí)牙科手術(shù)觸感訓(xùn)練支撐平臺(tái)”，ZL 200910242042.5，2011年5月4日
10. 王黨校，張玉茹，姚沖，吳俊，面向簽名防偽的多維力覺(jué)信息測(cè)量數(shù)字筆（專利號(hào)：ZL 200710064434.8），2010年1月6日
11. 王黨校，張玉茹，王瑜, 周萬(wàn)琳，吳俊，“面向手眼協(xié)調(diào)操作的力覺(jué)視覺(jué)融合顯示平臺(tái)”（專利號(hào)：ZL200810056484.6），2009年8月19日
12. 王黨校，張玉茹，吳俊，姚沖， “書寫訓(xùn)練設(shè)備及處理方法”（專利號(hào)：ZL 200710303776.0），2010年9月8日
13. 王黨校，張玉茹，劉冠陽(yáng)，“虛擬空間的觸覺(jué)力覺(jué)反饋人機(jī)拔河系統(tǒng)”，（專利號(hào)：ZL200810055892.X），2010年4月21日
14. 王黨校，方磊，徐牧，于佳琦, 張玉茹. 2013，一種能夠?qū)崿F(xiàn)六維空間力測(cè)量的力矩傳感器，ZL 201110190280.3
15. 郭衛(wèi)東、劉博、張玉茹、李久振、劉軍傳、李繼婷，“仿人機(jī)器手機(jī)構(gòu)”,ZL200410102702.7, 2006.11.08
16. 李繼婷，王舉，張玉茹，王爽，“手指運(yùn)動(dòng)功能康復(fù)機(jī)器人”， ZL 2009 1 0081170.6, 2011.6.1
17. 李繼婷，王舉，張玉茹，王爽. 2012，外骨骼式手指運(yùn)動(dòng)功能康復(fù)機(jī)器人，ZL200910238175.5。
18. 李繼婷，鄭若隱，張玉茹. 2013，外骨骼式拇指運(yùn)動(dòng)功能康復(fù)機(jī)器人，ZL201110215592.5。
劉冠陽(yáng)，周墨淵，張玉茹，郭衛(wèi)東，盧可可. 2012，兩自由度力覺(jué)交互設(shè)備，ZL200910237798.0
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