Unified Admittance Control for Accurate Puncture and Respiration Following Based on Disturbance Observation and Model Predictive Control - Xingguang Duan; Rui He; Qingjie Zhao; Xiangqian Chen; Changsheng Li (IEEE Robotics Autom. Lett., 2025)

3-Axial Force Self Fault-Tolerant Decoupling of Surgical Forceps Integrating Step-Coated FBG for Spinal Endoscopic Robot - Chen Zhao; Changsheng Li; Mingchang Du; Haolei Fan; Jinpeng Diao; Kaifeng Wang; Jun Wang; Weiwei Xia; Xingguang Duan; Haiying Liu; Yuegang Tan; Tianliang Li (IEEE Trans Autom. Sci. Eng., 2025)

Collaborative human-robot surgery for Mandibular Angle Split Osteotomy: Optical tracking based approach - Zhe Han; Huanyu Tian; Tom Vercauteren; Da Liu; Changsheng Li; Xingguang Duan (Biomed. Signal Process. Control., 2024)

Robust Control Based on Fast Terminal Sliding Mode Control with Adaptive Interval Type-2 Fuzzy PID - Junjie Dong; Xingguang Duan (Int. J. Fuzzy Syst., 2024)

Passive Gravity Compensation for Parallel Mechanism With Both Spatial Translations and Angular Orientations - Lixing Jin; Xiaolong Zhu; Jiale Huan; Changsheng Li; Xingguang Duan (IEEE Robotics Autom. Lett., 2024)

Learning Rearrangement Manipulation via Scene Prediction in Point Cloud - Anji Ma; Xingguang Duan (IEEE Robotics Autom. Lett., 2024)

Virtual-Fixtures Based Shared Control Method for Curve-Cutting With a Reciprocating Saw in Robot-Assisted Osteotomy - Huanyu Tian; Xingguang Duan; Zhe Han; Tengfei Cui; Rui He; Hao Wen; Changsheng Li (IEEE Trans Autom. Sci. Eng., 2024)

Imitation Learning and Teleoperation Shared Control With Unit Tangent Fuzzy Movement Primitives - Hao Wen; Wen Fu; Wu Chen; Jiale Huan; Changsheng Li; Xingguang Duan (IEEE Trans. Fuzzy Syst., 2024)

Observer-Based Gate Recurrent Learning for Model-Free Control of 6-DoF Manipulators: Considerations for Input Saturation and Output Constraints - Qingxin Shi; Hao Wen; Changsheng Li; Xingguang Duan (IEEE Trans. Ind. Electron., 2024)

Design of Remote Operating System for Touch-Control Medical Monitoring Equipment in ICU - Yiming Ma; Junhui Huang; Xingguang Duan; Changsheng Li; Jianxi Li (Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Xi'an, China, July 31 - August 2, 2024, Proceedings, Part V, 2024)

Adaptive Neural Network Sliding Mode Controller for Welding Robot with Uncertain Model in Nuclear Power Plant - Jiale Huan; Qingxin Shi; Pu Chen; Xingguang Duan (Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Xi'an, China, July 31 - August 2, 2024, Proceedings, Part I, 2024)

Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System - Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles (IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, 2024)

TIODT: Touch-free Intuitive Operation Digital Twin Platform for Minimally Invasive Surgical Robot - Dongsheng Xie; Jinpeng Diao; Fengxinyun Fang; Yang Wang; Changsheng Li; Xingguang Duan (IEEE International Conference on Real-time Computing and Robotics, RCAR 2024, Alesund, Norway, June 24-28, 2024, 2024)

Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG - Hao Wen; Wen Fu; Junlan Dong; Changsheng Li; Xingguang Duan (Social Robotics - 16th International Conference, ICSR + BioMed 2024, Singapore, August 16-18, 2024, Proceedings, 2024)

Design and Baseline Drift Compensation for Respiratory Acquisition Devices - Hao Wen; Rui He; Xiangqian Chen; Changsheng Li; Xingguang Duan (Social Robotics - 16th International Conference, ICSR + BioMed 2024, Singapore, August 16-18, 2024, Proceedings, 2024)

Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System - Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles (CoRR, 2024)

Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion - Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles (CoRR, 2024)

Design of a flexible robot toward transbronchial lung biopsy - Runtian Zhang; Dongsheng Xie; Chao Qian; Xingguang Duan; Changsheng Li (Robotica, 2023)

A Robust Control via a Fuzzy System with PID for the ROV - Junjie Dong; Xingguang Duan (Sensors, 2023)

Fixed-Time Recurrent NN Learning Control of Uncertain Robotic Manipulators with Time-Varying Constraints: Experimental Verification - Qingxin Shi; Changsheng Li; Rui He; Xiaolong Zhu; Xingguang Duan (Sensors, 2023)

Adaptive Fuzzy Sliding Mode Controller for Robot-Assisted Laminectomy - Xiaolong Zhu; Huanyu Tian; Rui He; Changsheng Li; Mingxing Fan; Xingguang Duan; Wei Tian (International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Sanya, China, July 8-10, 2023, 2023)

Remote Robotic System for Thermocouple Maintenance Tasks in Nuclear Power Plants - Quanbin Lai; Rui Ma; Haihua Huang; Weiming Li; Xingguang Duan (International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Sanya, China, July 8-10, 2023, 2023)

A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery - Jinpeng Diao; Chao Qian; Xiao Xiao; Xingguang Duan; Changsheng Li (Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Hangzhou, China, July 5-7, 2023, Proceedings, Part III, 2023)

Modeling and Analysis of Surgical Parallel Continuum Manipulator - Chao Qian; Jinpeng Diao; Rong Cong; Zhuoheng Li; Xingguang Duan; Changsheng Li (IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, Koh Samui, Thailand, December 4-9, 2023, 2023)

Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance - Yanjun Guo; Xingguang Duan; Chengyi Wang; Haicheng Zhang; Huiqin Guo (Auton. Robots, 2022)

Medical image fusion via discrete stationary wavelet transform and an enhanced radial basis function neural network - Zhen Chao; Xingguang Duan; Shuangfu Jia; Xuejun Guo; Hao Liu; Fucang Jia (Appl. Soft Comput., 2022)

Unsupervised learning of depth estimation from imperfect rectified stereo laparoscopic images - Huoling Luo; Congcong Wang; Xingguang Duan; Hao Liu; Ping Wang; Qingmao Hu; Fucang Jia (Comput. Biol. Medicine, 2022)

Robotic Replacement System for Thermocouple Components in the Nuclear Power Plant - Haihua Huang; Yujie Feng; Yi Tan; Rui Ma; Quanbin Lai; Binxuan Sun; Xingguang Duan (Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Harbin, China, August 1-3, 2022, Proceedings, Part I, 2022)

Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios - Feng Yang; Haihua Huang; Yanzheng Chen; Weiming Li; Quanbin Lai; Rui Ma; Binxuan Sun; Xingguang Duan (Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Harbin, China, August 1-3, 2022, Proceedings, Part III, 2022)

Mixed Reality Assisted Orbital Reconstruction Navigation System for Reduction Surgery of Orbital Fracture - Dongsheng Xie; Xingguang Duan; Liuhong Ma; Minghao Zhao; Jianjian Lu; Changsheng Li (IEEE International Conference on Real-time Computing and Robotics, RCAR 2022, Guiyang, China, July 17-22, 2022, 2022)

Data-Driven Model of Off-Line Collision Safety Based on Neural Network for Cooperative Robot - Tengfei Cui; Jingshen Zhao; Lixing Jin; Quanbin Lai; Jiale Huan; Ye Tian; Xingguang Duan (IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, December 5-9, 2022, 2022)

Mechanical Design and Workspace Optimization of a Flexible Parallel Manipulator for Minimally Invasive Surgery - Zihan Zhou; Fengyi Shi; Zhuoheng Li; Jiaxun Li; Runtian Zhang; Chao Qian; Xingguang Duan; Changsheng Li (IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, December 5-9, 2022, 2022)

Dynamic Parameters Identification for Manipulators Considering Physical Feasibility and Nonlinear Friction - Hao Wen; Wen Fu; Yue Feng; Jiajie Chen; Wu Chen; Quanbin Lai; Binxuan Sun; Xingguang Duan (IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, December 5-9, 2022, 2022)

A Flexible Transoral Robot Towards COVID-19 Swab Sampling - Changsheng Li; Xiaoyi Gu; Xiao Xiao; Chwee Ming Lim; Xingguang Duan; Hongliang Ren (Frontiers Robotics AI, 2021)

Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning From Demonstration - Xingguang Duan; Huanyu Tian; Changsheng Li; Zhe Han; Tengfei Cui; Qingxin Shi; Hao Wen; Jin Wang (IEEE Robotics Autom. Lett., 2021)

A Miniature Manipulator With Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery - Changsheng Li; Yusheng Yan; Xiao Xiao; Xiaoyi Gu; Huxin Gao; Xingguang Duan; Xiuli Zuo; Yanqing Li; Hongliang Ren (IEEE Robotics Autom. Lett., 2021)

Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator - Qingxin Shi; Jianwu Li; Junjie Dong; Fansheng Meng; Rui Ma; Quanbin Lai; Xingguang Duan (Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part I, 2021)

Development and Control of a CT Fluoroscopy Guided Lung Puncture Robot - Rui He; Hao Wen; Changsheng Li; Xiangqian Chen; Xiaogang Chen; Xiaowei Mao; Xingguang Duan (Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Yantai, China, October 22-25, 2021, Proceedings, Part III, 2021)

Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal - Zhe Han; Huanyu Tian; Fansheng Meng; Hao Wen; Rui Ma; Xingguang Duan; Yilin Zhang; Chenghua Liu (IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021, 2021)

Reconfigurable Cable-Driven Parallel Robot with Adjustable Workspace Towards Positioning in Neurosurgery: A Preliminary Design - Changsheng Li; Jingchen Huang; Mengya Su; Diao Wu; Peng Xu; Yushan Xie; Fansheng Meng; Hao Wen; Huanyu Tian; Xingguang Duan (IEEE International Conference on Real-time Computing and Robotics, RCAR 2021, Xining, China, July 15-19, 2021, 2021)

Kinematic Self-calibration of a 3-DOF Parallel Mechanism with Ill-conditioned Identification Matrix - Xingguang Duan; Lixing Jin; Changsheng Li; Rui He; Quanbin Lai; Rui Ma (IEEE International Conference on Real-time Computing and Robotics, RCAR 2021, Xining, China, July 15-19, 2021, 2021)

Preliminary Design of a Reconfigurable Cable-Driven Parallel Haptic Device Towards Robot-Assisted Surgery - Fansheng Meng; Changsheng Li; Hao Wen; Rui Ma; Xingguang Duan; Weijun Zhang (IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, December 27-31, 2021, 2021)

Obstacle Avoidance Strategy of Improved APF Method in C-space - Jingshen Zhao; Ying Wang; Lixing Jin; Xingguang Duan; Weijun Zhang (IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, December 27-31, 2021, 2021)

Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space - Honghua Zhao; Jian Zhao; Xingguang Duan; Xuyin Gong; Gui-Bin Bian (IEEE Access, 2020)

A Method for Calibration and Compensation of Kinematic Parameters for Recycling Robot in Nuclear Power Plant - Zhe Han; Yue Pan; Yilin Zhang; Chenghua Liu; Fansheng Meng; Xingguang Duan (2020 IEEE International Conference on Real-time Computing and Robotics, RCAR 2020, Asahikawa, Hokkaido, Japan, September 28-29, 2020, 2020)

A Dual-six-dimensional Force Sensors Calibration Method for pHRI based on Ridge Regression - Huanyu Tian; Xingguang Duan; Tengfei Cui; Jin Wang; Qingxin Shi; Junjie Dong (2020 IEEE International Conference on Real-time Computing and Robotics, RCAR 2020, Asahikawa, Hokkaido, Japan, September 28-29, 2020, 2020)

Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots - Peng Li; Xuebin Hou; Xingguang Duan; Hiu Man Yip; Guoli Song; Yunhui Liu (IEEE Access, 2019)

Development of a New Variable Curvature Flexible Joint Based Surgical Manipulator for a Narrow Workspace - Quanquan Liu; Zhengzhi Wu; Weiguang Li; Xingguang Duan; Masakatsu G. Fujie; Chunbao Wang; Xin Zhang; Bo Zhang; Lihong Duan; Jiaxiang Dong; Wanfeng Shang; Haidong Wang; et al. (2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, October 31 - November 2, 2019, 2019)

Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System - Lixing Jin; Xingguang Duan; Yonggui Wang; Huanyu Tian; Hao Wen (2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, October 31 - November 2, 2019, 2019)

Optimization of a Surgical Robot Based on the Manipulability Index - Peng Li; Le Wei; Xuebin Hou; Xingguang Duan; Yunhui Liu (IEEE International Conference on Information and Automation, ICIA 2018, Wuyishan, China, August 11-13, 2018, 2018)

Efficient and Low-Cost Deep-Learning Based Gaze Estimator for Surgical Robot Control - Peng Li; Xuebin Hou; Le Wei; Guoli Song; Xingguang Duan (IEEE International Conference on Real-time Computing and Robotics, RCAR 2018, Kandima, Maldives, August 1-5, 2018, 2018)

An integrated system for planning, navigation and robotic assistance for mandible reconstruction surgery - Xiangzhan Kong; Xingguang Duan; Yonggui Wang (Intell. Serv. Robotics, 2016)

Cascade control for compliant joint robots with redundant position sensors - Yuancan Huang; Zeguo Li; Xingguang Duan (55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016, 2016)

Review on development of stand assist lifts for the elderly - Cong Li; Yunfeng Wang; Yue Wang; Tengfei Cui; Xingguang Duan (2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016, Macau, China, August 18-20, 2016, 2016)

Control and experimental validation of robot-assisted automatic measurement system for Multi-Stud Tensioning Machine (MSTM) - Meng Li; Xingguang Duan; Haoyuan Li; Tengfei Cui; Liang Gao; Yue Zhan; Yan Xu (2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, May 16-21, 2016, 2016)

Control system for blocking plate manipulation robot based on visual servo - Xingguang Duan; Yang Yang; Meng Li; Chang Li; Qingsong Liu; Yu Wu (IEEE International Conference on Information and Automation, ICIA 2013, Yinchuan, China, August 26-28, 2013, 2013)

Navigation method for mandible reconstruction surgery robot - Xiangzhan Kong; Xingguang Duan; Yonggui Wang; Meng Li; Yang Yang; Syed Amjad Ali; Chang Li (IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, December 12-14, 2013, 2013)

Design of automatic measuring robot for steam generator in nuclear power plant - Yang Yang; Xingguang Duan; Meng Li; Yonggui Wang; Qingsong Liu; Tao Zhang (IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, December 12-14, 2013, 2013)

Control system design and implementation for a blocking plate manipulation robot - Xingguang Duan; Meng Li; Yonggui Wang; Xiangzhan Kong; Yang Yang; Syed Amjad Ali (IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, December 12-14, 2013, 2013)

A fastening bolt method based on image recognition - Xingguang Duan; Yonggui Wang; Meng Li; Xiangzhan Kong; Syed Amjad Ali (IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, December 12-14, 2013, 2013)

A model of collision-detection for maxillofacial multi-arm surgery robot - Xiangyu Zhu; Xingguang Duan; Chao Chen; Tianbo Liu; Qing-bo Guo (2012 IEEE International Conference on Automation and Logistics, Zhengzhou, China, August 15-17, 2012, 2012)

Experimental research on the ultrasound-guided positioning system of microwave ablation surgical robot - Xingguang Duan; Qing-bo Guo; Tianbo Liu; Xiangyu Zhu; Chao Chen; Yang Yang (2012 IEEE International Conference on Automation and Logistics, Zhengzhou, China, August 15-17, 2012, 2012)

Development of a Maxillofacial Multi-arm Surgery Robot - Xiangzhan Kong; Xingguang Duan; Yonggui Wang (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, December 11-14, 2012, 2012)

Structure design and master-slave control system of a vascular interventional robot - Xing-tao Wang; Xingguang Duan; Qiang Huang; Congjun Gao; Xueshan Gao; Da Liu; Bo Liu (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011, 2011)

Maxillofacial surgery using virtual force feedback - Syed Amjad Ali; Xingguang Duan; Congjun Gao; Xiangtao Wang; Qiang Huang (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011, 2011)

An ultrasound-directed robotic system for microwave ablation of liver cancer - Qiang Huang; Gui-Bin Bian; Xingguang Duan; Honghua Zhao; Ping Liang (Robotica, 2010)

Treatment modes and clinical experiment of medical robot assisted photodynamic therapy of port wine stains - Xing-tao Wang; Xingguang Duan; Qiang Huang; Gui-Bin Bian; Honghua Zhao; Nai-yan Huang; Ying Gu (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, Tianjin, China, December 14-18, 2010, 2010)

Kinematics and dynamics modeling of a small mobile robot with tracked locomotion mode - Honghua Zhao; Xingguang Duan; Ge Yang (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, Tianjin, China, December 14-18, 2010, 2010)

Generation of humanoid walking pattern based on human walking measurement - Qiang Huang; Zhangguo Yu; Weimin Zhang; Xingguang Duan; Yuancan Huang; Kejie Li (8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Daejeon, South Korea, December 1-3, 2008, 2008)

A New Expression to Construct Jacobian Matrix of Parallel Mechanism - Hongbing Xin; Qiang Huang; Xingguang Duan; Yueqing Yu (Intelligent Robotics and Applications, First International Conference, ICIRA 2008, Wuhan, China, October 15-17, 2008 Proceedings, Part I, 2008)

A small-sized wall-climbing robot for anti-terror scout - Shuyan Liu; Xueshan Gao; Kejie Li; Jun Li; Xingguang Duan (IEEE International Conference on Robotics and Biomimetics, ROBIO 2007, Sanya, China, 15-28 December 2007, 2007)

Kinematic Modeling of a Small Mobile Robot with Multi-Locomotion Modes - Xingguang Duan; Qiang Huang; Nasir Rahman; Jingtao Li; Qinjun Du (2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China, 2006)

Modeling and Control of a Small Mobile Robot with Multi-Locomotion Modes - Xingguang Duan; Qiang Huang; Nasir Rahman; Jingtao Li; Qinjun Du (Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications (ISDA 2006), October 16-18, 2006, Jinan, China, 2006)

Stability Criterion and Pattern Planning for Humanoid Running - Zhaohui Li; Qiang Huang; Kejie Li; Xingguang Duan (Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, 2004)