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Zirui Jia
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Journal Articles

Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method

Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101014.
Paper No: JMR-23-1620
https://doi.org/10.1115/1.4064670
Published Online: March 5, 2024
View Article titled, Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
Open the PDF for Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method in another window
Topics: Cables, Calibration, Kinematics, Robots, Design
Journal Articles

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101010.
Paper No: JMR-23-1615
https://doi.org/10.1115/1.4064636
Published Online: February 27, 2024
View Article titled, Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery
Open the PDF for Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery in another window
Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
Journal Articles

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071006.
Paper No: JMR-23-1116
https://doi.org/10.1115/1.4063454
Published Online: October 16, 2023
View Article titled, An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss
Open the PDF for An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss in another window
Topics: Cables, Cantilever beams, Deflection, Robots, Tension
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Article titled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
Open the PDF for Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot in another window
Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2023, 17(1): 014501.
Paper No: MED-22-1077
https://doi.org/10.1115/1.4056319
Published Online: December 14, 2022
View Article titled, Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery
Open the PDF for Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery in another window
Topics: Design, Exoskeleton devices, Surgery, Tendons, Rotation, Muscle, Kinematics, Wire, Ropes, Cables