A Rigid-Soft Pneumatic Wrist with Fixed Rotation Axes and Active Jamming Variable Stiffness Mechanisms. - Kehan Ding; Li Jiang 001; Ruichen Zhen (ICIRA (3), 2023)

Design of A Rigid-soft Hybrid Robotic Glove with Force Sensing Function. - Hexin Li; Li Jiang 001; Ruichen Zhen; Ming Cheng; Kehan Ding (ICRA, 2024)

Force Perception for Rigid-Soft Finger Without Force Sensors: Theoretical Analysis, and Model Transfer. - Ruichen Zhen; Li Jiang 001; Kehan Ding; Hexin Li (IEEE Robotics Autom. Lett., 2024)