熊蔡华

姓名：熊蔡华
电话：
职称：教授
邮箱：chxiong@hust.edu.cn


个人基本情况 熊蔡华（Xiong Caihua，Professor），毕业于华中科技大学，获工学学士、硕士和博士学位，为********，国家****科学基金获得者，全国百篇优秀博士学位论文获得者。
主持了国家****科学基金、国家自然科学基金重点项目、国家“973”项目课题、国家“863”、国家数控重大专项等项目。在Int. J. of Robotics Research、IEEE Trans. on Automation Science and Engineering、Science in China等国际学术期刊上发表系列SCI收录的论文，在World Scientific出版公司出版《Fundamentals of Robotic Grasping and Fixturing》英文学术专著1部，被美国卡内基-梅隆大学、麻省理工学院、斯坦福大学、加州（Berkeley）大学等大学以及德国、意大利、荷兰、墨西哥和日本等国研究机构****正面引用和评述。主编《Intelligent Robotics and Applications》丛书（Springer公司出版）。“机器人操作的理论与方法”2013年获湖北省自然科学一等奖。担任国际学术期刊《Advanced Robotics》的Guest Editor和《International Journal of Social Robotics》的Associate Editor，《Journal of Bionic Engineering》编委。



主要研究方向 机器人学
生机电一体化康复工程装备等


开设课程 《仿生机器人学概论》
《机器人操作系统》



近年的科研项目、专著与论文、专利、获奖 承担的科研项目：
1. 国家自然科学基金重点项目“手眼协调的臂-手假肢系统基础研究”，资助号：**，研究期限：2014.01-2018.12
2.国家“973”项目“人体运动功能重建的生机电一体化科学基础”项目课题“肢体运动谱的机械创成与运动分治”，资助号：2011CB013301，研究期限：2011.12-2016.12.
3.国家****科学基金项目“康复医疗机器人柔顺驱动与运动规划理论及其应用”，资助号：**，研究期限：2011.01-2014.12

授权的专利：
1. 一种假肢臂差动关节机构，发明专利号：ZL 2013 1 **.1
2. 一种气动肌肉驱动的穿戴式肘关节康复训练装置，发明专利号：ZL 2013 1 **.2
3. 一种少输入多模式输出的假肢手驱动机构，发明专利号：ZL 2013 1 **.7
4. 一种假肢手的拇指机构，发明专利号：ZL 2013 1 **.X
5. 一种欠驱动假肢手，发明专利号：ZL 2013 1 **.2
6. 下肢多训练模式康复机器人，发明专利号：ZL 2011 1 **
7. 一种脚踏式下肢康复训练装置，发明专利号：ZL 2011 1 **.3
8. 肩关节康复训练装置，发明专利号：ZL9.5
9. 一种钢丝绳张紧装置，发明专利号：ZL4.1
10. 肩关节康复训练装置，发明专利号：ZL 2007 1 **.X
11. 机器人自主定位系统，发明专利号：ZL 2007 1 **.1
12. 一种肘关节康复训练装置，发明专利号：ZL 2007 1 **.4
13. 一种可穿戴式上肢康复训练机器人装置，发明专利号：ZL3.X
14. 清洁机器人行走机构，发明专利号：ZL 2006 2 **.6
15. 上肢运动功能恢复装置，外观设计专利号：ZL16

荣誉与奖项：
1. 2013年，“机器人操作的理论与方法”获湖北省自然科学一等奖
2. 2007年，教育部“****奖励计划”****
3. 2005年，入选“教育部新世纪优秀人才计划”
4. 2000年，博士学位论文“机器人多指手的抓取规划及操作实验的研究”获全国百篇优秀博士学位论文奖

代表性著作：
[1] Chen Wenbin, Xiong Caihua, Yue Shigang, Mechanical implementation of kinematic synergy for continual grasping generation of anthropomorphic hand, IEEE/ASME Trans. on Mechatronics, DOI: 10.1109/TMECH.2014.**, 2014.
[2] Zhang Xiaojian, Xiong Caihua, Ding Ye, Feng Mingjun, Xiong Youlun, Milling stability analysis with simultaneously considering the structural mode coupling effect and regenerative effect, Int. J. of Machine Tools & Manufacture, 2012, 53(1): 127-140.
[3] Chen Wenbin, Xiong Caihua, Huang Xiaolin, Sun Ronglei, Xiong Youlun, Kinematic analysis and dexterity evaluation of upper extremity in activities of daily living, Gait & Posture, 2010, 32(4): 475-481.
[4] Ye Tao, Xiong Caihua, Geometric parameter optimization in multi-axis machining, Computer-Aided Design, 2008, 40(8): 879-890.
[5] Xiong Caihua, Wang Michael Yu, and Xiong Youlun, On clamping planning in workpiece-fixture systems, IEEE Trans. on Automation Science and Engineering, 2008, 5(3): 407-419.
[6] Xiong Caihua, Ding H, Xiong YL, Fundamentals of Robotic Grasping and Fixturing, World Scientific Publishing Co. Pte. Ltd., 2007(Book)
[7] Xiong Caihua, An approach to error elimination for multi-axis CNC machining and robot manipulation, Science in China Series E: Technological Sciences, 2007, 50(5): 560-574.
[8] Xiong Caihua, Li, Y. F., Ding Han, Xiong Youlun, On the dynamic stability of grasping, Int. J. of Robotics Research, 1999, 18(9): 951-958.
[9] Cui Yuding, Xiong Caihua, Dynamic recurrent neural network based classification scheme for myoelectric control of upper limb rehabilitation robot, Journal of Mechanics in Medicine and Biology, 2014, 14(6): 1-15.
[10] Jiang Xianzhi, Huang Xinhan, Xiong Caihua, Sun Ronglei, Xiong Youlun, Position control of a rehabilitation robotic joint based on neuron proportion-integral and feedforward control, Transactions of the ASME- J. of Computational and Nonlinear Dynamics, 2012, 7(2): 024502-1~ 024502-6.
[11] Chen Wenbin, Xiong Caihua, Sun Ronglei, Huang Xiaolin, A 10-degree of freedom exoskeleton rehabilitation robot with ergonomic shoulder actuation mechanism, Int. J. of Humanoid Robotics, 2011, 8(1): 47-71.
[12] Jiang Xianzhi, Xiong Caihua, Sun Ronglei, Xiong Youlun, Characteristics of the robotic joint of a 9-DOF upper limb rehabilitation robot driven by pneumatic muscles, Int. J. of Humanoid Robotics, 2011, 8(4): 743-760.
[13] Jiang Xianzhi, Xiong Caihua, Sun Ronglei, Huang Xiaolin, Xiong Youlun, Static and dynamic characteristics of rehabilitation joint powered by pneumatic muscles, Int. J. of Industrial and Service Robotics, 2011, 38(5): 486-491.
[14] Zhang Xiaojian, Xiong Caihua, Ding Ye, Xiong Youlun, Variable-step integration method for milling chatter stability prediction with multiple delays, Science in China Series E: Technological Sciences, 2011, 54(12): 3137-3154.
[15] Ye Tao, Xiong Caihua, Xiong Youlun, Zhao Can, Kinematics constrained five-axis tool path planning for high material removal rate, Science in China Series E: Technological Sciences, 2011, 54(12): 3155-3165.
[16] Wan Xiaojin, Xiong Caihua, Wang Xufeng, Zhang Xiaoming, Xiong Youlun, A machining-feature driven approach to locating scheme in multi-axis milling, Int. J. of Machine Tools & Manufacture, 2010, 50(1), pp.42-50.
[17] Wan Xiaojin, Xiong Caihua, Wang Xufeng, Zhang Xiaoming, Xiong Youlun, Analysis–synthesis of dimensional deviation of the machining feature for discrete-part manufacturing processes, Int. J. of Machine Tools & Manufacture, 2009, 49(15): 1214-1233.
[18] Wan Xiaojin, Xiong Caihua, Hua Lin, Synchronous adjustment of milling tool path based on the relative deviation, Transactions of the ASME-J. of Manufacturing Science and Engineering, 2010, 133(5): 051010-1~ 051010-12.
[19] Ye Tao, Xiong Caihua, Xiong Youlun, Zhao Can, Tool orientation optimization considering second order kinematical performance of the multi-axis machine, Transactions of the ASME-J. of Manufacturing Science and Engineering, 2010, 132(5): 051006-1~ 051006-11.
[20] Zhang Xiaojian, Xiong Caihua, Ding Ye, Zhang Xiaoming, Stability analysis in milling of thin-walled workpieces with emphasis on the structural effect, Proc. IMechE Part B: J. Engineering Manufacture, 2010, 224(4): 589-608.
[21] Xiong Caihua, Jiang Xianzhi, Sun Ronglei, Huang Xiaolin, Xiong Youlun, Control methods for exoskeleton rehabilitation robot driven with pneumatic muscles, Int. J. of Industrial and Service Robotics, 2009, 36(3): 210-220.
[22] Xiong Caihua, Han Donggui and Xiong Youlun, An integrated localization system for robots in underground environments, Int. J. of Industrial and Service Robotics, 2009, 36(3): 221-229.
[23] Han Donggui, Xiong Caihua, Liu Honghai, A wavelet-based method for processing signal of fiber optical gyroscopes in strap-down inertial systems, Int. J. of Robotics and Automation, 2009, 24(3): 185-193.
[24] Chen Wenbin, Xiong Caihua, Huang Xiaolin, Sun Ronglei, Xiong Youlun, Manipulator workspace boundary extraction and its application in workspace analysis of human's upper extremity, Advanced Robotics, 2009, 23(10): 1393-1410.
[25] Gao Farong, Xiong Caihua, Xiong Youlun, Constrained oscillation of a bubble subjected to shock wave in microvessel, Progress in Natural Science, 2009, 19(9): 1109-1117.
[26] Wan Xiaojin, Xiong Caihua, Zhao Can, Wang Xufeng, A unified framework of error evaluation and adjustment in machining, Int. J. of Machine Tools & Manufacture, 2008, 48(11): 1198-1210.
[27] Xiong Caihua, Rong Y., Tang Y., Xiong Y. L. Fixturing model and analysis, Int. J. of Computer Applications in Technology, 2007, 28(1): 34-45.
[28] Xiong Caihua, Wang Michael Yu, Tang Yong and Xiong Youlun, On prediction of passive contact forces of workpiece-fixture systems, Proc. of IMechE Part B-J. of Engineering Manufacture, 2005, 219(B3): 309-324.
[29] Xiong Caihua, Wang Michael Yu, Tang Yong and Xiong Youlun, Compliant grasping with passive forces, J. of Robotic Systems, 2005, 22(5): 271-285.
[30] Xiong Caihua, Li Y. F., Rong Kevin, Xiong Youlun, Qualitative analysis and quantitative evaluation of fixturing, Robotics and Computer Integrated Manufacturing, 2002, 18(5-6): 335-342.
[31] Xiong Caihua, Rong Y., Koganti R. P, Zaluzec M. J., Wang N., Geometric variation prediction in automotive assembling, Assembly Automation, 2002, 22(3): 260-269.
[32] Xiong Caihua, Li, Y. F., Xiong Youlun, Ding Han and et. al., Grasp capability analysis of multifingered robot hands, Robotics and Autonomous Systems, 1999, 27(4): 211-224.
[33] Xiong Caihua, Li Y. F., Xiong Youlun, Kinematics of finger with rolling contact, Progress in Natural Science, 1999, 9(3): 189-197.
[34] Xiong Caihua and Xiong Youlun, Stability index and contact configuration planning for multifingered grasp, J. of Robotic Systems, 1998, 15(4): 183-190.
[35] Xiong Caihua and Xiong Youlun, Neural network based force planning for multifingered grasp, Robotics and Autonomous Systems, 1997, 21(4): 365-375.