A soft robotic glove for hand motion assistance. - Juan Yi; Zhong Shen; Chaoyang Song 001; Zheng Wang 002 (RCAR, 2016)

A reconfigurable hybrid actuator with rigid and soft components. - Yaohui Chen 002; Sing Le; Qiao Chu Tan; Oscar Lau; Fang Wan 002; Chaoyang Song 001 (ICRA, 2017)

A lobster-inspired robotic glove for hand rehabilitation. - Yaohui Chen 002; Sing Le; Qiao Chu Tan; Oscar Lau; Fang Wan 002; Chaoyang Song 001 (ICRA, 2017)

Hybrid actuator design for a gait augmentation wearable. - Fang Wan 002; Zheng Wang 002; Brooke Franchuk; Xinyao Hu; Zhenglong Sun 001; Chaoyang Song 001 (ROBIO, 2017)

Logical Learning Through a Hybrid Neural Network with Auxiliary Inputs. - Fang Wan 002; Chaoyang Song 001 (CoRR, 2017)

Analytical Solution to Global Dynamic Balance Control of the Acrobot. - Xiaojiao Chen; Tommy Hu; Chaoyang Song 001; Zheng Wang 002 (RCAR, 2018)

A Neural Network With Logical Reasoning Based on Auxiliary Inputs. - Fang Wan 002; Chaoyang Song 001 (Frontiers Robotics AI, 2018)

An Ankle Based Soft Active Orthotic Device Powered by Pneumatic Artificial Muscle. - Xinyao Hu; Chuang Luo; Hao Li; Liyao Jia; Chaoyang Song 001; Zheng Wang 002; Xingda Qu (RCAR, 2019)

Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions. - Juan Yi; Xiaojiao Chen; Chaoyang Song 001; Jianshu Zhou; Yujia Liu; Sicong Liu 003; Zheng Wang 002 (IEEE Trans. Robotics, 2019)

DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation*. - Fang Wan 002; Haokun Wang 006; Xiaobo Liu; Linhan Yang; Chaoyang Song 001 (AIM, 2020)

Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance. - Xia Wu; Haiyuan Liu; Ziqi Liu; Mingdong Chen; Fang Wan 002; Chenglong Fu 001; H. Harry Asada; Zheng Wang 002; Chaoyang Song 001 (RoboSoft, 2020)

Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger. - Zeyi Yang; Sheng Ge; Fang Wan 002; Yujia Liu; Chaoyang Song 001 (RoboSoft, 2020)

A Lobster-inspired Hybrid Actuator With Rigid and Soft Components. - Yaohui Chen 002; Sing Le; Qiao Chu Tan; Oscar Lau; Chaoyang Song 001 (CoRR, 2020)

DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation. - Fang Wan 002; Haokun Wang 006; Xiaobo Liu; Linhan Yang; Chaoyang Song 001 (CoRR, 2020)

Design of an Optoelectronically Innervated Gripper for Rigid-Soft Interactive Grasping. - Linhan Yang; Xudong Han; Weijie Guo 003; Zixin Zhang; Fang Wan 002; Jia Pan 001; Chaoyang Song 001 (CoRR, 2020)

Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate. - Fang Wan 002; Chaoyang Song 001 (Frontiers Robotics AI, 2020)

A Reconfigurable Design for Omni-Adaptive Grasp Learning. - Fang Wan 002; Haokun Wang 006; Jiyuan Wu; Yujia Liu; Sheng Ge; Chaoyang Song 001 (IEEE Robotics Autom. Lett., 2020)

Rigid-Soft Interactive Learning for Robust Grasping. - Linhan Yang; Fang Wan 002; Haokun Wang 006; Xiaobo Liu; Yujia Liu; Jia Pan 001; Chaoyang Song 001 (IEEE Robotics Autom. Lett., 2020)

Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness. - Fang Wan 002; Xiaobo Liu; Ning Guo; Xudong Han; Feng Tian; Chaoyang Song 001 (CoRL, 2021)

An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility. - Shihao Feng; Yuping Gu; Weijie Guo 003; Yuqin Guo; Fang Wan 002; Jia Pan 001; Chaoyang Song 001 (ICRA, 2021)

Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness. - Haiyang Jiang 004; Yonglin Jing; Ning Guo; Weijie Guo 003; Fang Wan 002; Chaoyang Song 001 (RoboSoft, 2021)

High-Payload Online Identification and Adaptive Control for an Electrically-actuated Quadruped Robot. - Bingchen Jin; Shusheng Ye; Juntong Su; Chaoyang Song 001; Ye Zhao 002; Aidong Zhang; Ning Ding 003; Jianwen Luo 002 (CoRR, 2021)

Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance. - Jianwen Luo 002; Zheng Wang 002; Chaoyang Song 001; H. Harry Asada; Chenglong Fu 001 (CoRR, 2021)

Rigid-Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater. - Haiyang Jiang 004; Xudong Han; Yonglin Jing; Ning Guo; Fang Wan 002; Chaoyang Song 001 (Frontiers Robotics AI, 2021)

Volumetrically Enhanced Soft Actuator With Proprioceptive Sensing. - Baiyue Wang; Weijie Guo 003; Shihao Feng; Hongdong Yi; Fang Wan 002; Chaoyang Song 001 (IEEE Robotics Autom. Lett., 2021)

Learning-Based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping. - Linhan Yang; Xudong Han; Weijie Guo 003; Fang Wan 002; Jia Pan 001; Chaoyang Song 001 (IEEE Robotics Autom. Lett., 2021)

Soft magnetic skin for super-resolution tactile sensing with force self-decoupling. - Youcan Yan; Zhe Hu; Zhengbao Yang; Wenzhen Yuan 001; Chaoyang Song 001; Jia Pan 001; Yajing Shen (Sci. Robotics, 2021)

DeepClaw 2.0: A Data Collection Platform for Learning Human Manipulation. - Haokun Wang 006; Xiaobo Liu; Nuofan Qiu; Ning Guo; Fang Wan 002; Chaoyang Song 001 (Frontiers Robotics AI, 2022)

Tactile Super-Resolution Model for Soft Magnetic Skin. - Youcan Yan; Yajing Shen; Chaoyang Song 001; Jia Pan 001 (IEEE Robotics Autom. Lett., 2022)

Crowdfunding for Design Innovation: Prediction Model With Critical Factors. - Chaoyang Song 001; Jianxi Luo; Katja Hölttä-Otto; Warren P. Seering; Kevin Otto 002 (IEEE Trans. Engineering Management, 2022)

Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance. - Yuqin Guo; Rongzheng Zhang; Wanghongjie Qiu; H. Harry Asada; Fang Wan 002; Chaoyang Song 001 (CASE, 2023)

Jigsaw-Based Benchmarking for Learning Robotic Manipulation. - Xiaobo Liu; Fang Wan 002; Sheng Ge; Haokun Wang 006; Haoran Sun; Chaoyang Song 001 (ICARM, 2023)

Vision-Based Tactile Sensing for an Omni-Adaptive Soft Finger. - Xudong Han; Sheng Liu; Fang Wan 002; Chaoyang Song 001 (ICDL, 2023)

TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot. - Linhan Yang; Bidan Huang; Qingbiao Li; Ya-Yen Tsai; Wang Wei Lee; Chaoyang Song 001; Jia Pan 001 (CoRR, 2023)

Overconstrained Robotic Limb with Energy-Efficient, Omni-directional Locomotion. - Ronghan Xu; Jiayi Yin; Shihao Feng; Bangchao Huang; Haoran Sun; Jia Pan 001; Fang Wan 002; Chaoyang Song 001 (CoRR, 2023)

Active Surface with Passive Omni-Directional Adaptation of Soft Polyhedral Fingers for In-Hand Manipulation. - Sen Li; Fang Wan 002; Chaoyang Song 001 (CoRR, 2023)

SeeThruFinger: See and Grasp Anything with a Soft Touch. - Fang Wan 002; Chaoyang Song 001 (CoRR, 2023)

Sampling-Based Planning for Retrieving Near-Cylindrical Objects in Cluttered Scenes Using Hierarchical Graphs. - Hao Tian 003; Chaoyang Song 001; Changbo Wang; Xinyu Zhang 002; Jia Pan 001 (IEEE Trans. Robotics, 2023)

Calibrated analytical model for magnetic localization of wireless capsule endoscope based on onboard sensing. - You Li; Zhuokang Huang; Xiaobo Liu; Yu Jie; Chaoyang Song 001; Chengzhi Hu (Robotica, 2023)

TacGNN: Learning Tactile-Based In-Hand Manipulation With a Blind Robot Using Hierarchical Graph Neural Network. - Linhan Yang; Bidan Huang; Qingbiao Li; Ya-Yen Tsai; Wang Wei Lee; Chaoyang Song 001; Jia Pan 001 (IEEE Robotics Autom. Lett., 2023)

Computational design towards energy efficient optimization in overconstrained robotic limbs. - Yuping Gu; Ziqian Wang; Shihao Feng; Haoran Sun; Haibo Lu; Jia Pan 001; Fang Wan 002; Chaoyang Song 001 (J. Comput. Des. Eng., 2023)

Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance. - Jiayu Huo; Jingran Wang; Yuqin Guo; Wanghongjie Qiu; Mingdong Chen; H. Harry Asada; Fang Wan 002; Chaoyang Song 001 (Adv. Intell. Syst., 2023)

Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots. - Nuofan Qiu; Chaoyang Song 001; Fang Wan 002 (ICARM, 2024)

Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning. - Tianyu Wu; Yujian Dong; Yang Xiao; Jinqi Wei; Fang Wan 002; Chaoyang Song 001 (ICARM, 2024)

One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging. - Linhan Yang; Lei Yang 048; Haoran Sun; Zeqing Zhang; Haibin He; Fang Wan 002; Chaoyang Song 001; Jia Pan 001 (CoRR, 2024)

Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning. - Yenan Chen; Chuye Zhang; Pengxi Gu; Jianuo Qiu; Jiayi Yin; Nuofan Qiu; Guojing Huang; Bangchao Huang; Zishang Zhang; Hui Deng; Wei Zhang 013; Fang Wan 002; et al. (CoRR, 2024)

On Flange-based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding. - Xudong Han; Ning Guo; Yu Jie; He Wang; Fang Wan 002; Chaoyang Song 001 (CoRR, 2024)

Proprioceptive learning with soft polyhedral networks. - Xiaobo Liu; Xudong Han; Wei Hong; Fang Wan 002; Chaoyang Song 001 (Int. J. Robotics Res., 2024)

Proprioceptive State Estimation for Amphibious Tactile Sensing. - Ning Guo; Xudong Han; Shuqiao Zhong; Zhiyuan Zhou; Jian Lin; Jian S. Dai 001; Fang Wan 002; Chaoyang Song 001 (IEEE Trans. Robotics, 2024)

Autoencoding a Soft Touch to Learn Grasping from On-Land to Underwater. - Ning Guo; Xudong Han; Xiaobo Liu; Shuqiao Zhong; Zhiyuan Zhou; Jian Lin; Jiansheng Dai 001; Fang Wan 002; Chaoyang Song 001 (Adv. Intell. Syst., 2024)

Reconstructing Soft Robotic Touch via In-Finger Vision. - Ning Guo; Xudong Han; Shuqiao Zhong; Zhiyuan Zhou; Jian Lin; Fang Wan 002; Chaoyang Song 001 (Adv. Intell. Syst., 2024)

Optimizing Robotic Manipulation With Decision-RWKV: A Recurrent Sequence Modeling Approach for Lifelong Learning. - Yujian Dong; Tianyu Wu; Chaoyang Song 001 (J. Comput. Inf. Sci. Eng., 2025)

ActiveSPN: Active Soft Polyhedral Networks With Pose Estimation for In-Finger Object Manipulation. - Sen Li; Chengxiao Dong; Chaoyang Song 001; Fang Wan 002 (IEEE Robotics Autom. Lett., 2025)