Fudan University
FamiLabFlexible Actuation, Manipulation and Interaction Lab

论文成果

Publications

2026

  • Bistable haptic textiles for immersive somatosensory augmentation and sensory substitution.

    Zhang Z, Chen S, Yang Z, Emu L, Wei P, Jia C, Liu Y, Yan W, Lu Y, Huang Y, Chai C, Gao X, Chen Y, Jiang H, Jiang Y, Wu H, Hu L, Sawan M, Ding Z, Gan Z, Jiang H.

    Nature Sensors, 2026.

  • G-raph Hand: A Reconfigurable Anthropomorphic Hand with Hybrid Control and Lightweight Closure-Guided In-Hand Manipulation.

    Lu Q, Liu C, Zhang F, Zou J, Chen K, Gan Z, Zhang Z*.

    IEEE Transactions on Robotics, 2026, 42: 3215–3234.

  • 力学超材料赋能触觉反馈交互.

    张壮, 贾晨, 姜汉卿.

    力学进展, 2026.

  • 3D printing elastic metamaterials and actuators with high resilience via polyether block amide (PEBA).

    Su R, Du J, Jia C, Gan Z, Zhang Z*.

    Extreme Mechanics Letters, 2026, 84: 102465.

  • FiN-Kiri: Fabric-Based Inflatable Kirigami Actuator for Multimodal Soft Robots.

    Yu Y, Zhang Y, Yin Y, Wu Y, Zhang J, Bai R, Yao J, Su K, Yu C, Tian Z, Li N, Zhang Z*, Li B.

    Advanced Robotics Research, 2026: e202600006.

  • Stiffness enhanced reconfigurable soft hand for versatile stable grasps and in-hand manipulation.

    Lu Q, Zhang F, Li K, Wang X, Zhang Z, Gan Z.

    Bioinspiration & Biomimetics, 2026, 21(1): 016020.

  • Multi Objective Deep Reinforcement Learning for Dimensional Optimization of Parallel Robots.

    Zhang F, Zou J, Lu Q, Zhang Z, Gan Z.

    IEEE Robotics and Automation Letters, 2026, 11(8): 9875–9882.

2025

  • Mechanically strengthened silicone-based origami structures via hierarchical interfacial shrink fitting.

    Zhang S, Yong H, Zhang J, Chai Z, Ke X, Zong Z, Ding H, Zhang Z*, Li K, Wu Z.

    Science Advances, 2025, 11(41): eadz8940.

  • Biodegradable origami enables closed-loop sustainable robotic systems.

    Wei P#, Zhang Z#, Cheng S, Meng Y, Tong M, Emu L, Yan W, Zhang Y, Wang Y, Zhao J, Xu C, Zhai F, Lu J, Wang L, Jiang H.

    Science Advances, 2025, 11(6): eads0217.

  • Reconfigurable modular origami for tunable 2D symmetry groups.

    Liu W, Ren Q, Wang Y, Zhang Z, Wang X, Liang Y, Huang H, Ma J, Jiang H, Chen Y.

    Science Advances, 2025, 11(46): eady3812.

  • A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion.

    Chen G, Long Y, Yao S, Tang S, Luo J, Wang H, Zhang Z*, Jiang H.

    Nature Communications, 2025, 16(1): 1449.

  • Muscle-inspired elasto-electromagnetic mechanism in autonomous insect robots.

    Xu C, Cao Y, Zhao J, Cao Y, Huang Y, Lin Y, Wang D, Zhang Z, Jiang H.

    Nature Communications, 2025, 16(1): 6813.

  • An Intelligent Bionic Amphibious Turtle Robot with Visual-Tactile Fusion for Dynamic Terrain Adaptation.

    Liu A, Zhang X, Huang H, Xiao F, Cui G, Mao B, Xu Y, Zhang Z*, Qu J.

    IEEE Transactions on Robotics, 2025, 41: 6345–6363.

2024

  • Quantitative softness and texture bimodal haptic sensors for robotic clinical feature identification and intelligent picking.

    Qiu Y, Wang F, Zhang Z, et al.

    Science Advances, 2024, 10(30): eadp0348.

  • Vacuum-Driven Parallel Continuum Robots with Self-Sensing Origami Linkages.

    Fan W, Wang J, Zhang Z*, Chen G, Wang H.

    IEEE/ASME Transactions on Mechatronics, 2024, 29(5): 3370–3380.

  • Powerful multidirectional pneumatic jumper with lightweight fabric chambers and buckling-controllable elastic beams.

    Wang Z, Long Y, Zhang Z*, Liu R, Wang H, Chen G.

    IEEE Robotics and Automation Letters, 2024, 9(4): 3347–3354.

  • Bioelastic state recovery for haptic sensory substitution.

    Flavin M, Ha K, Guo Z, Li S, Kim J, Saxena T, Simatos D, Al-Najjar F, Mao Y, Bandapalli S, Fan C, Bai D, Zhang Z, Zhang Y, Flavin E, Madsen K, Huang Y, Emu L, Zhao J, Yoo J, Park M, Shin J, Huang A, Shin H, Colgate E, Huang Y, Xie Z, Jiang H*, Rogers J.

    Nature, 2024, 635: 345–352.

  • Advancing Haptic Interfaces for Immersive and Commercialized Experiences in the Metaverse.

    Tang Y, Xu J, Liu Q, Hu X, Xue W, Liu Z, Lin Z, Lin H, Zhang Y, Zhang Z*, Ma X, Wang J, Zhong J, Wang D, Jiang H, Ma Y.

    Device, 2024, 2(6).

  • Bistable Insect-Scale Jumpers with Tunable Energy Barriers for Multimodal Locomotion.

    Guo Q, Sun Y, Zhang T, Xie S, Chen X, Zhang Z*, Jiang H, Yang L.

    Advanced Science, 2024: 2404404.

  • Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length.

    Zhang Z, Fan W, Long Y, Dai J, Luo J, Tang S, Lu Q, Wang H, Chen G.

    Cyborg and Bionic Systems, 2024, 5: 0103.

  • A Redundant Parallel Continuum Manipulator with Stiffness-Varying and Force-Sensing Capability.

    Tang S, Liang Z, Zhang Z, Wang H, Chen G.

    IEEE Transactions on Automation Science and Engineering, 2024.

  • Analysis of the influence of passive joints on kinematic calibration of parallel manipulators based on complete error model.

    Yuan X, Kong L, Zhang Z, Huang G, Xie A, Chen G.

    Precision Engineering, 2024.

2023

  • Active Mechanical Haptics with High-Fidelity Perceptions for Immersive Virtual Reality.

    Zhang Z, Xu Z, Emu L, Wei P, Chen S, Zhai Z, Kong L, Wang Y, Jiang H.

    Nature Machine Intelligence, 2023, 5: 643–655.

  • Soft and Lightweight Fabric Enables Powerful and High-Range Pneumatic Actuation.

    Zhang Z, Long Y, Chen G, Wu Q, Wang H, Jiang H.

    Science Advances, 2023, 9(15): eadg1203.

  • Plug & Play Origami Modules with All-Purpose Deformation Modes.

    Zhang C#, Zhang Z#, Peng Y, Zhang Y, An S, Wang Y, Zhai Z, Xu Y, Jiang H.

    Nature Communications, 2023, 14(1): 4329.

  • Bioinspired Rigid-Soft Hybrid Origami Actuator with Controllable Versatile Motion and Variable Stiffness.

    Zhang Z*, Chen G, Xun Y, Wang J, Wang H, Angeles J.

    IEEE Transactions on Robotics, 2023, 39(6): 4768–4784.

  • Intrinsic Contact Sensing and Object Perception of An Adaptive Fin-ray Gripper Integrating Compact Deflection Sensors.

    Chen G, Tang S, Xu S, Guan T, Xun Y, Zhang Z, Wang H, Lin Z.

    IEEE Transactions on Robotics, 2023, 39(6): 4482–4499.

  • Lightweight and Powerful Vacuum-Driven Gripper with Bioinspired Elastic Spine.

    Long Y, Zhang Z*, Xu Z, Gu E, Lu Q, Wang H, Chen G.

    IEEE Robotics and Automation Letters, 2023, 8(12): 8136–8143.

  • Edible Hydrogels with Shrinkage Tolerance in Acids and Stomach-Friendly Mechanical Moduli.

    Huang J, Zhang Z, Jiang H.

    Applied Materials Today, 2023, 32: 101786.

  • Kinetostatics Modeling and Elasto-geometrical Calibration of Overconstrained Parallel Manipulators.

    Wu H, Liang Z, Zhang Z, Kong L, Wang H, Chen G.

    Mechanism and Machine Theory, 2023, 191: 105490.

2022

  • Design and Analysis of Hybrid-driven Origami Continuum Robots with Extensible and Stiffness-Tunable Sections.

    Zhang Z, Tang S, Fan W, Xun Y, Chen G, Wang H.

    Mechanism and Machine Theory, 2022, 169: 104607.

  • Wireless Multiplexing Control Based on Magnetic Coupling Resonance and its Applications in Robot.

    Wang J, Chen G, Zhang Z, Wang H.

    ASME Journal of Mechanisms and Robotics, 2022, 14(1).

  • A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration.

    Wu C, Zhang Z, Zheng W.

    Machines, 2022, 10(2): 142.

2021

  • Kinetostatics Modeling and Analysis of Parallel Continuum Manipulators.

    Chen G, Kang Y, Liang Z, Zhang Z, Wang H.

    Mechanism and Machine Theory, 2021, 163: 104380.

2020

  • A Pneumatic/Cable-driven Hybrid Linear Actuator with Combined Structure of Origami Chambers and Deployable Mechanism.

    Zhang Z, Chen G, Wu H, Kong L, Wang H.

    IEEE Robotics and Automation Letters, 2020, 5(2): 3564–3571.

  • A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell.

    Zhang Z, Chen G, Fan W, Yan W, Kong L, Wang H.

    Chinese Journal of Mechanical Engineering, 2020, 33(1): 1–13.

  • Analysis and Validation of A Flexible Planar Two Degree-of-Freedom Parallel Manipulator with Structural Passive Compliance.

    Chen G, Zhang Z, Kong L, Wang H.

    ASME Journal of Mechanisms and Robotics, 2020, 12(1): 011011.

2018

  • A General Approach to The Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices.

    Chen G, Zhang Z, Wang H.

    ASME Journal of Mechanisms and Robotics, 2018, 10(3): 031012.

  • Kinematic Calibration and Investigation of The Influence of Universal Joint Errors on Accuracy Improvement for A 3-DOF Parallel Manipulator.

    Kong L, Chen G, Zhang Z, Wang H.

    Robotics and Computer-Integrated Manufacturing, 2018, 49: 388–397.