基本信息科学研究教育教学论文发表English Version
基本信息
董为，男，工学博士，教授，博士生导师。现任职于哈尔滨工业大学机器人研究所，机器人技术与系统国家重点实验室。研究方向：机器人技术与智能机电系统。

消息更新
2017年8月11日，我实验室博士研究生张博、陈方鑫撰写论文获得IEEE/3M-Nano2017最佳应用论文奖。2017年7月9日，我实验室硕士研究生邱耀，获得金牌优秀毕业生称号（<5%）。
2016年12月9日，推选为IEEE Senior Member，感谢推荐人香港中文大学刘云辉教授、法国巴黎第六大学Veronique Perdereau教授、加拿大约克大学张丹教授。
2016年12月，祝贺我实验室博士生杨淼获得国家奖学金。2016年8月11日，我实验室硕士研究生张帆获得IEEE/ICMA2016最佳学生论文奖。

2016年7月16日，我实验室硕士研究生林俊贤获得IEEE/3M-Nano2016最佳学生论文提名奖。
2016年7月1日，我实验室硕士研究生林俊贤、张帆，获得银牌优秀毕业生称号（<10%）。2015年11月，祝贺我实验室硕士生林俊贤获得国家奖学金。
2015年9月28日，我实验室博士生高永卓、硕士生张帆将赴德国汉堡，参加IEEE/IROS2015国际会议。2014年12月16日，我实验室硕士生李海洋作为我校唯一获奖人，获得2014年GE基金会科技创新大赛二等奖（奖项设置为一等奖1人、二等奖3人、三等奖15人）。

2014年3月17日，我实验室博士生苏衍宇将赴香港，参加IEEE/ICRA2014国际会议。

2013年11月2日，我实验室博士生苏衍宇、杨文龙将赴日本东京，参加IEEE/IROS2013国际会议。

2013年7月1日，我实验室硕士研究生史若冲，获得金牌优秀毕业生称号（<5%），在硕士研究生学习阶段发表4篇学术论文，其中3篇SCI期刊论文。

荣誉称号
2010年，海外引进人才计划（哈尔滨工业大学）。


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工作经历
2017.12-哈尔滨工业大学教授

2015.05-哈尔滨工业大学博士生导师

2011.04-哈尔滨工业大学硕士生导师

2010.10-哈尔滨工业大学副教授

2009-2010 法国CNRS/FEMTO-ST研究所博士后

2007-2009 美国康涅狄格大学机械工程系博士后

教育经历
2007年，哈尔滨工业大学，博士学位

2003年，哈尔滨工业大学，硕士学位

2001年，哈尔滨工业大学，学士学位

主要任职
2016年， IEEE Senior Member

2016年， ASME Member

2009年， SPIE Member

2005年， IEEE Member

招收博士后（长期有效）
欢迎相关专业（见本课题组的研究领域）国内外高水平大学的优秀人才加入到我课题组开展博士后研究工作，请将个人简历发送至我的邮箱。

招收博士研究生（长期有效）
欢迎优秀免试推荐生源加入到课题组，请将个人简历发送至我的邮箱。

研究领域
主要研究方向：

1、并联机器人技术与应用：精密并联机器人、并联运动模拟机构、并联机器人应用等；

2、机器人学基础：机器人设计与优化、机器人振动控制、机器人运动规划等；

3、医疗机器人：外科手术机器人、柔性针穿刺手术机器人等。

4、穿戴式机电系统：穿戴式外骨骼助力系统、穿戴式康复机电系统等。

科研项目
在研项目（负责人）

1、智能机器人专项 | 具有器械-组织操控功能的穿刺机器人研制（2017年-）

2、921预研 | 基于仿生肌腱的航天员××研究（2017年-）

3、04专项 | 贮箱零部件焊接预处理柔性磨削系统研究（2017年-）

4、横向课题 | ××××拼接调整机构（2017年-）

5、十三五陆军装备预研项目 | 托举搬运型外骨骼系统关键技术（2016年-）

6、基础科研计划 | 单兵××××技术（2015年-）

7、黑龙江省自然科学基金 | 大行程柔顺并联机构综合与控制方法研究（面上项目2015年-）

8、国家自然科学基金 | 大行程柔顺并联机构的系统创成与控制方法研究（面上项目2015年-）

9、国家高技术研究发展计划 | 易爆危险品自动装填与检测的机器人工艺装备及数字化生产线（2014年-）

在研项目（主要参与人）

1、技术推广项目 | 装配机器人在××××××过程的推广应用（2016年-）

2、环境保护公益性行业科研专项 | 失控放射源探测与处置智能机器人技术研究（2015年-）

完成项目（负责人）

1、国家自然科学基金 | 面向机器人辅助穿刺手术的新型柔性针驱动/传感系统创成与针-组织复合操控方法研究

2、教育部归国留学人员启动基金 | 机器人辅助靶向穿刺手术系统的研究

3、哈尔滨工业大学引进人才科研启动项目 | 柔性针靶向穿刺的建模与实验研究

4、国家重点实验室自主课题 | 软体机器人的制备创成与行为控制关键技术研究

5、国家重点实验室自主课题 | 斜角柔性针/人体组织界面的摩擦作用机理及进针路径规划研究

6、航天五院总体部项目 | 高精度空间指向平台

7、哈尔滨工业大学科研创新基金 | 基于功能材料的大行程柔顺机器人及控制方法研究

8、哈尔滨工业大学颠覆性技术培育项目 | 面向航天应用的超大行程精密柔性关节

完成项目（主要参与人）

1、欧盟第七框架计划 | ECRobot

2、国家自然科学基金 | 复杂地面物理参数在线辨识及移动机器人机动性自监督机制研究

3、航天五院总体部项目 | 6自由度高精度空间平台

奖项成果

奖项名称柔性机器人设计与控制关键技术研究

获奖时间2016年

完成人董为（第一完成人）

所获奖项黑龙江省科学技术奖二等奖（自然类）



奖项名称移动操作机器人系统关键技术与应用

获奖时间2016年

完成人董为（第五完成人）

所获奖项黑龙江省科学技术奖一等奖（发明类）



奖项名称数字化机器人辅助骨科手术系统

获奖时间2012年

完成人董为（第六完成人）

所获奖项黑龙江省科学技术奖二等奖（发明类）


讲授课程
《机器人技术》

简介：研究生学位课，共32学时（承担20学时），每年选课人数200+。

《并联机器人技术（双语）》

简介：本科生选修课，共16学时，2018年开课。

招生信息
博士招生：

机械电子工程、机械工程、精密仪器工程、电气工程等相关专业。

硕士招生：
机械电子工程、机械工程、精密仪器工程、电气工程等相关专业。

本科毕业设计：

欢迎保送生、实验学院毕业生进入实验室开展毕业设计，专业同“硕士招生”。

本科生创新设计：

欢迎本科生进入实验室开展创新设计等活动，专业同“硕士招生”。

研究成员（博士研究生）
高 特 | 博士研究生（毛里求斯），2017级

张 许 | 直博研究生，2017级

蔡静楠| 推荐攻博研究生，2017级

陈方鑫 | 镜面精密位姿调整系统，2016级

陈朝峰| 穿戴式外骨骼机器人系统，2016级（共同导师：杜志江教授）

杨淼 | 大行程柔顺并联机构系统创成，2014级（共同导师：杜志江教授）

高永卓 | 工业机器人技术，2014级（共同导师：杜志江教授）

张博 | 斜角柔性针穿刺手术系统，2012级（共同导师：杜志江教授）

龙亿 | 穿戴式外骨骼机器人系统，2012级（共同导师：杜志江教授）

杨文龙 | 单孔微创手术机器人系统，2011级（共同导师：杜志江教授）

苏衍宇 | 机器人系统的智能控制，2015年毕业（共同导师：杜志江教授）

马如奇 | 微创手术机器人系统，2013年毕业（共同导师：杜志江教授）

肖永强 | 工业机器人关键技术，2012年毕业（共同导师：杜志江教授）

研究成员（硕士研究生）
硕士研究生

2017级

黄海 | 哈尔滨工业大学保送

孙鑫 | 哈尔滨工业大学保送

2016级

李政阳 | 哈尔滨工业大学保送，外骨骼机器人系统

韩鹰 | 大连理工大学保送，工业机器人应用研究

陈依 | 哈尔滨工业大学保送，共同导师，吴冬梅教授，弹性机器人系统研究

2015级

苗雨 | 哈尔滨工业大学保送，软体机器人

陈方鑫 | 吉林大学统招，精密定位机器人系统

丛 林 | 哈尔滨工业大学统招，共同导师，吴冬梅教授，外骨骼机器人

2014级

李海洋 | 哈尔滨工业大学实验学院保送，微型压电电机创新设计

林俊贤 | 浙江大学保送，大行程柔性铰链设计与优化

张志明 | 成都电子科大统招，共同导师，杜志江教授，外骨骼机器人

2013级

王永锋 | 哈尔滨工业大学实验学院保送，骨科手术机器人系统

衣振洲 | 大连理工大学保送，柔性针穿刺手术机器人系统

权艳娜 | 哈尔滨工业大学威海分校保送，共同导师，杜志江教授，脚限位器设计

2012级

张际超 | 哈尔滨工业大学威海分校保送，柔性针穿刺手术机器人系统

孙熠旋 | 哈尔滨工业大学威海分校保送，共同导师：杜志江教授，康复机器人

高永卓 | 哈尔滨工业大学保送，共同导师：杜志江教授，工业机器人技术

2011级

史若冲 | 大连理工大学保送，共同导师：杜志江教授，高精度并联机器人系统

王力鋆 | 哈尔滨工业大学保送，共同导师：杜志江教授，柔性针穿刺手术机器人

2010级

刘子文 | 哈尔滨工业大学保送，共同导师：杜志江教授，主从控制技术

韩大为 | 哈尔滨工业大学威海分校统招，共同导师：杜志江教授，微创手术系统

韩慧敏 | 河南大学统招，共同导师：杜志江教授，柔性针穿刺手术机器人

2009级

陈晓光 | 大连理工大学保送，共同导师：杜志江教授，并联机器人技术

国际期刊论文
52. Chen Chaofeng, Du Zhijiang, He Long, Wang Jiaqi, Wu Dongmei, Wang Xinrui, Li Xiaoqi, Xu Guoqiang, and Dong Wei*, "Active disturbance rejection with fast terminal sliding mode control for a lower limb exoskeleton in swing phase", IEEE Access, Accepted

51. Yang Miao, Du Zhijiang, Dong Wei*, "Optimal design, modelling and control of a long stroke 3-PRR compliant parallel manipulator with variable thickness flexure pivots", Robotics and Computer Integrated Manufacturing, Accepted

50. Chen Fangxin, Dong Wei, Yang Miao, Sun Lining and Du Zhijiang, "Development of a PZT actuated 6-DOF positioning system for space optics alignment", IEEE & ASME Transactions on Mechatronics, Under revision

49. Yang Miao, Du Zhijiang, Sun Lining, Dong Wei*,"Design and tracking control of a superelastic flexure hinge based 3-PRR compliant parallel manipulator", Mechanism and Machine Theory, Under revision

48. Gao Yongzhuo, Du Zhijiang, Xu Wei, Li Mingyang, Dong Wei*, " HEALPix-IA: A Global registration algorithm for initial alignment ", Sensors, 2019, 427 (SCI, IF=2.677)

47. Wang Likun, Chen Chaofeng, Dong Wei, Du Zhijiang, Shen Yi*, Zhao Guangyu, "Locomotion stability analysis of lower extremity augmentation device", Journal of Bionic Engineering, 2019, v.16, n.1, pp.99-114 (SCI, IF=2.388)

46. Wang Likun, Du Zhijiang*, Dong Wei, Shen Yi, Zhao Guangyu, "Probabilistic sensitivity amplification control for lower extremity exoskeleton", Applied Sciences, 2018, v.8, n.4, ** (SCI, IF=1.679)

45. Yang Miao, Du Zhijiang, Sun Lining, Dong Wei*, "Deformation modeling and analysis of variable thickness flexure pivots", ASME Journal of Mechanisms and Robotics, 2019, vol.11, n.1, 014502 (SCI, IF=IF=2.371)

44. Zhang Bo, Chen Fangxin, Yang Miao, Huang Linxiang, Du Zhijiang, Sun Lining, Dong Wei*, "Real-time curvature detection of a flexible needle with a bevel tip", Sensors, 2018, v.18, n.7, 2057 (SCI, IF=2.677)

43. Wang Likun, Zhijiang Du, Chen Chaofeng, Li Zhengyang, Shen Yi, Zhao Guangyu, Dong Wei*, "High precision data-driven force control of compact elastic module for a lower extremity augmentation device", Journal of Bionic Engineering, 2018, v.15, n.5, pp.805-819 (SCI, IF=2.388)

42. Zhang Bo, Chen Fangxin, Li Haiyang, Du Zhijiang, Sun Lining, Dong Wei*, "A friction-inertial-based rotary motor: design, modelling and experiments", Materials, 2018, v.11, n.6, ** (SCI, IF=2.654)

41. Yu Hongjian, Yang Wenlong, Yang Zhengxin, Dong Wei, Du Zhijiang, Yan Zhiyuan*, "Hysteresis analysis of a notched continuum manipulator driven by tendon", Mechanical Sciences, 2018, v.9, n.1, pp.211-219 (SCI, IF=1.211)

40. Wang Likun, Du Zhijiang, Dong Wei*, Shen Yi, Zhao Guangyu, "Hierarchical human machine interaction learning for a lower extremity augmentation device", International Journal of Social Robotics, Online (SCI, IF=2.559)

39. Wang Likun, Du Zhijiang, Dong Wei*, Shen Yi, Zhao Guangyu, "Intrinsic sensing and evolving internal model control of compact elastic module for a lower extremity exoskeleton", Sensors, 2018, v.18, n.3, 909 (SCI, IF=2.677)

38. Dong Wei, Fangxin Chen, Futian Gao, Miao Yang, Du Zhijiang*, Lining Sun, Jiong Tang, Dan Zhang, "Development and analysis of a bridge-lever-type displacement amplifier based on hybrid flexure hinges", Precision Engineering, 2018, v.54, pp.171-181 (SCI, IF=2.237)

37. Gao Yongzhuo, Du Zhijiang, Gao Xueshan, Su Yanyu, Mu Yu, Sun Lining, Dong Wei*, "Implementation of open-architecture kinematic controller for articulated robots under ROS”, Industrial Robot –An International Journal, 2018, v.45, n.2, pp.244-254 (SCI, IF=0.690)

36. Long Yi, Du Zhijiang, Weidong Wang, Dong Wei*, “Human motion intent learning based motion assistance control for a wearable exoskeleton”, Robotics and Computer Integrated Manufacturing, 2018, v.49, pp.317-327 (SCI, IF=2.846)

35. Long Yi, Du Zhijiang, Chen Chaofeng, Weidong Wang, He Long, Mao Xiwang, Xu Guoqiang, Zhao Guangyu, Dong Wei*, "Hybrid control scheme of a hydraulically actuated lower extremity exoskeleton for load-carrying",Journal of Intelligent & Robotic Systems, 2018, v.91, pp.493-500 (SCI, IF=1.512)

34. Chen Fangxin, Du Zhijiang, Yang Miao, Gao Futian, Dong Wei*, Zhang Dan, “Design and analysis of a three-dimensional bridge-type mechanism based on the stiffness distribution”, Precision Engineering, 2018, v.51, n.1, pp.48-58 (SCI, IF=2.237)

33. Long Yi, Du Zhijiang, Wang Weidong, He Long, Mao Xiwang, Dong Wei*,“Physical human-robot interaction estimation-based control scheme for a hydraulically actuated exoskeleton designed for power amplification”, Frontiers of Information Technology & Electronic Engineering, 2018, vol.19, n.9, pp.1076-1085 (SCI, IF=0.770)

32. Dong Wei, Chen Fangxin, Yang Miao, Du Zhijiang*, Tang Jiong, Zhang Dan, “Development of a highly efficient bridge-type mechanism based on negative stiffness”, Smart Materials and Structures, 2017, v.26, n.9, 095053 (SCI, IF=2.909)

31. Long Yi, Du Zhijiang, Chen Chaofeng, Wang Weidong, Dong Wei*, “Development of a lower extremity wearable exoskeleton with double compact elastic module: preliminary experiment”, Mechanical Sciences, 2017, v.8, pp.249-258 (SCI, IF=1.211)

30. Du Zhijaing, Wang Wei, Wang Weidong, Dong Wei*, "Preoperative planning for a multi-arm robot-assisted minimally invasive surgery system", Simulation, 2017, v.93, n.10, pp.853-867 (SCI, IF=0.713)

29. Du Zhijiang, Wang Wei, Yan Zhiyuan, Dong Wei, Wang Weidong*, "Variable admittance control based on fuzzy reinforcement learning for the minimally invasive surgery manipulator", Sensors, 2017, v.17, 844 (SCI, IF=2.677)

28. Dong Wei, Chen Fangxin, Li Haiyang, Yang Miao, Du Zhijiang*, "A two-dimensional nano-positioner: design, modelling and experiments", Robotics and Computer Integrated Manufacturing, 2017, v.48, pp.167-173 (SCI, IF=2.846)

27. Long Yi, Du Zhijiang, Chen Chaofeng, Wang Weidong, He Long, Mao Xiwang, Xu Guoqiang, Zhao Guangyu, Li Xiaoqi, Dong Wei*, "Development and analysis of an electrically acutated lower extremity exoskeleton for robotic assistance", Journal of Bionic Engineering, 2017, v.14, n.2, pp.272-283 (SCI, IF=2.388)

26. Long Yi, Du Zhijiang, Cong Lin, Wang Weidong, Zhang Zhiming, Dong Wei*, "Active disturbance rejection control based human gait tracking for lower extremity rehabilitation Exoskeleton", ISA Transactions, 2017, v.67, pp.389-397 (SCI, IF=3.394)

25. Yang Miao, Du Zhijiang, Chen Fangxin, Dong Wei*, Zhang Dan, "Kinetostatic modelling of a 3-PRR planar compliant parallel manipulator with flexure pivots", Precision Engineering, 2017, v.48, pp.323-330 (SCI, IF=2.237)

24. Long Yi., Du Zhijiang, Wang Weidong, Zhao Guangyu, Xu Guoqiang, He Long, Mao Xiwang, Dong Wei*, "PSO-SVM based online locomotion mode identification for rehabilitation robotic exoskeleton", Sensors, 2016, v.16, n.9, 1408 (SCI, IF=2.033)

23. Duan Qingjuan, Du Zhijiang*, Yu Hongjian, Wang Yongfeng, Dong Wei, "The error analysis and experimental study of a bi-planar parallel mechanism in the pedicle screw robot system", Sensors, 2016, v.16, n.12, 2022 (SCI, IF=2.033)

22. Du Zhijiang, Yang Miao, Dong Wei*, Zhang Dan, "Static deformation modeling and analysis of flexure hinges made of shape memory alloy", Smart Materials and Structures, 2016, v.25, n.11, 115029 (SCI, IF=2.909)

21. Dong Wei, Li Haiyang, Du Zhijiang*, "A planar nano-positioner driven by shear piezoelectric actuators", AIP Advances, 2016, n.6, 085104 (SCI, IF=1.568)

20. Long Yi., Du Zhijiang, Wang Weidong, Dong Wei*, "Development of a wearable exoskeleton rehabilitation system based on hybrid control mode", International Journal of Advanced Robotic Systems, 2016, v.13, pp.1-10 (SCI, IF=0.987)

19. Du Zhijiang, Yang Miao, Dong Wei*, "Multi-objective optimization of a type of ellipse-parabola shaped superelastic flexure hinges", Mechanical Sciences, 2016，v.7, n.1, pp.127-134 (SCI, IF=1.211)

18. Yang Miao, Du Zhijiang, Dong Wei*, "Modeling and analysis of planar symmetric superelastic flexure hinges", Precision Engineering, 2016, v.46, pp.177-184 (SCI, IF=2.237)

17. Long Yi, Du Zhijiang, Wang Weidong, Dong Wei*, "Robust sliding mode control based on GA optimization and CMAC compensation for lower limb exoskeleton", Applied Bionics and Biomechanics, 2016, ** (SCI, IF=0.943)

16. Yang Wenlong, Du Zhijiang, Dong Wei*, "Kinematics modeling and performance optimization of a kinematic-mechanics coupled continuum manipulator", Mechatronics, 2015, v.31, n.9 (SCI, IF=2.496)

15. Wang Wei, Wang Weidong, Dong Wei, Yu Hongjian, Yan Zhiyuan, Du Zhijiang*, "Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm", Advances in Mechanical Engineering, 2015, v.7, n.2 (SCI, IF=0.827)

14. Du Zhijiang, Yang Wenlong, Dong Wei*, "Kinematics modeling of a notched continuum manipulator", ASME Journal of Mechanisms and Robotics, 2015, v.7, n.4, 041017 (SCI, IF=2.371)

13. Du Zhijiang, Su Yanyu, Yang Wenlong, Dong Wei*, "A piezo tip/tilt platform: structure, kinematics and experiments", Review of Scientific Instruments, 2014, v.85, n.4, 046102 (SCI, IF=1.515)

12. Wang Weidong, Dong Wei, Su Yanyu, Wu Dongmei, Du Zhijiang*, “Development of search and rescue robots for underground coal mine applications”, Journal of Field Robotics, 2014, v.31, n.3, pp.386-407 (SCI, IF=4.882)

11. Du Zhijiang, Shi Ruochong, Dong Wei*, “A piezo-actuated high-precision flexible parallel pointing mechanism: conceptual design, development and experiments”,IEEE Transactions on Robotics, 2014, v.30, n.1, pp.131-137 (SCI, IF=4.036)

10. Shi Ruochong, Dong Wei, Du Zhijiang*, “Design methodology and performance analysis of application-oriented flexure hinges”, Review of Scientific Instruments, 2013, v.84, n.7, 075005 (SCI, IF=1.515)

9. Du Zhijiang, Xiao Yongqiang, Dong Wei*, “Method for optimizing manipulator’s geometrical parameters and selecting reducers”, Journal of Central South University, 2013, v.20, n.5, pp.1235-1244 (SCI, IF=0.601)

8. Dong Wei*, Du Zhijiang, Xiao Yongqiang, Chen Xiaoguang, “Development of a parallel kinematic motion simulator platform”, Mechatronics, 2013, v.23, n.1, pp.154-161 (SCI, IF=2.496)

7. Dong Wei*, M. Gauthier, C. Lenders, P.Lambert, “A gas bubble-based parallel micro manipulator: conceptual design and kinematics model”, Journal of Micromechanics and Microengineering, 2012, v.22, n.5, 057001 (SCI, IF=1.794)

6. Du Zhijiang, Shi Ruochong, Dong Wei*, “Kinematics modeling of a 6-PSS parallel mechanism with wide-range flexure hinges”, Journal of Central South University, 2012, v.19, n.9, pp.2482-2487 (SCI, IF=0.601)

5. Xiao Yongqiang, Du Zhijiang, Dong Wei*, “Smooth and near time-optimal trajectory planning of industrial robots for online applications”, Industrial Robot –An International Journal, 2012, v.39, n.2, pp.169-177 (SCI, IF=0.863)

4. Dong Wei*, David Rostoucher, Michael Gauthier, “A novel integrated microforce measurement system for plane-plane contact research”, Review of Scientific Instruments, 2010, v.81, n.11, 116101 (SCI, IF=1.515)

3. Dong Wei*, Jiong Tang, Yasser ElDeeb, “Design of linear-motion dual-stage actuation system for precision control”, Smart Materials and Structures, 2009, v.18, n.9, 095035 (SCI, IF=2.909)

2. Dong Wei*, Sun Lining, Du Zhijiang, “Stiffness research on a high-precision, large-workspace parallel mechanism with compliant joints”, Precision Engineering, v.32, 2008, pp.222-231 (SCI, IF=2.237)

1. Dong Wei*, Sun Lining, Du Zhijiang, “Design of a precision compliant parallel positioner driven by dual piezoelectric actuators”, Sensors & Actuators A, Physics, v.135, 2007, pp.250-256 (SCI, IF=2.499)


国际会议论文
Y. Su, Dong Wei, Y. Wu, Y. Demiris, Z. Du, “Increasing the Accuracy and Repeatability of Positioning Control for Micromanipulations using Heteroscedastic Gaussian Processes”, IEEE/ICRA 2014, pp. 4692-4698Yang Wenlong, Dong Wei, and Du Zhijiang, “Mechanics-based kinematic modeling of a continuum manipulator”, IEEE/IROS 2013, pp. 5052-5058Dong Wei, D. Rostoucher, M. Gauthier, “Kinematics parameters estimation for an AFM/Robot integrated micro-force measurement system”, IEEE/IROS 2010, pp. 6143-6148Dong Wei, Sun Lining, and Du Zhijiang, “Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace”, IEEE/IROS 2005, pp.796-801Dong Wei, Sun Lining, and Du Zhijiang, “Conceptional design and kinematics modeling of a wide-range flexure hinge-based parallel manipulator”, IEEE/ICRA 2005, pp.4042-4047


Research | Activities
In my research group, we aim at the development of novel methods for robotic systems and mechatronics devices.

The group is directed by Dr. Wei Dong, a full professor of Robotics Institute, State Key Laboratory of Robotics and System.

Our research interests include:

Parallel robotics and applications: precision parallel systems, parallel motion simulators, and parallel robotic applications.Robotics fundamental : optimization and synthesis, vibration control of robot systems, motion planning of robot systems.Medical robotics: minimally invasive surgery robot systems and flexible needle insertion systems.


Research | Projects
Projects On-going (PI)

National Natural Science Foundation of China | Research on the creative generation and the control methodology of parallel mechanisms based on wide range flexure hingesNational Natural Science Foundation of China | Flexible needle actuation/sensing creation and needle/tissue combined operationScientific Research Foundation for the Returned Overseas Chinese Scholars | Targeted flexible needle insertion systemHIT Overseas Talents Introduction Program | Modeling and validation of targeted flexible needle insertion systemSelf-planned Task of State Key Laboratory of Robotics and System (HIT) | Friction and path planning of flexible needle insertion systemChinese Academy of Space Technology Project | High precision pointing platformScientific Innovation Foundation (HIT) | Wide-range compliant mechanism based on smart materialsDisruptive Technologies Program (HIT) | Ultra-wide-range high precision compliant jointsProjects On-going (Co-PI)

EU Frame 7 Program | ECRobotNational Natural Science Foundation of China | Physical parameters identification and self-supervising of mobile robot system Chinese Academy of Space Technology Project | 6-DOF high precision platform


People | Faculty
Dr. Wei Dong

Professor of Mechatronics Engineering

State Key Laboratory of Robotics and System, Robotics Institute, Harbin Institute of Technology

Phone: (86) ** ext 18

Fax: (86) **

Email: dongwei at hit.edu.cn



Dr. Wei Dong works with State Key Laboratory of Robotics and System, Harbin Institute of Technology.His research expertise is in the general areas of robotics and mechatronics.He has extensive experience in a series of inter-related research subjects including innovative design of robot/mechatronics systems, robotic system modeling and optimization, and smart material and structure integration and application etc. Prior to joining HIT, he worked as a postdoctoral researcher at CNRS FEMTO-ST, France (2009.09-2010.08) and University of Connecticut, US (2007.11-2009.07), respectively.He received the Ph.D. and M.S. degrees in Mechatronics Engineering and B.S. degree in Mechanical Engineering from HIT in 2007, 2003 and 2001, respectively.

People | Current Members and Alumni
Current MembersYang Miao (Ph.D. candidate, 2014) | Flexible needle insertion system (Co-supervised by Prof. Du)

Gao Yongzhuo (Ph.D. candidate, 2014) | Industrial robotic system (Co-supervised by Prof. Du)

Zhang Bo (Ph.D. candidate, 2012) | Flexible needle insertion system (Co-supervised by Prof. Du)

Yang Wenlong (Ph.D. candidate, 2011 ) | SPAS robotic system (Co-supervised by Prof. Du)

Su Yanyu (Ph.D. candidate, 2009) | Intelligent control of robotic system (Co-supervised by Prof. Du)

Wang Yongfeng (M.S. candidate, 2013 ) | Orthopaedics surgery robotic system

Yi Zhenzhou (M.S. candidate, 2013 ) | Flexible needle insertion system

Quan Yanna (M.S. candidate, 2013 ) | Feet restrict system (Co-supervised by Prof. Du)

Li Haiyang (M.S. candidate, 2014 ) | Miniature motor based on piezo actuation

Lin Junxian (M.S. candidate, 2014 ) | Wide-range flexure hinge modeling and optimization

AlumniMa Ruqi (Ph.D., 2013 ) | MIS robotic system (Co-supervised by Prof. Du)

Xiao Yongqiang (Ph.D., 2012 ) | Industrial robotic system (Co-supervised by Prof. Du)

Zhang Jichao (M.S., 2014 ) | Flexible needle insertion system

Sun Yixuan (M.S., 2014 ) | Rehabilitation robotic system (Co-supervised by Prof. Du)

Gao Yongzhuo (M.S., 2014 ) | Industrial robotic system (Co-supervised by Prof. Du)

Shi Ruochong (M.S., 2013 ) | High precision parallel robotic system (Co-supervised by Prof. Du)

Wang Lijun (M.S., 2013) | Flexible needle insertion system (Co-supervised by Prof. Du)

Liu Ziwen (M.S., 2012) | Master-slave control (Co-supervised by Prof. Du)

Han Dawei (M.S., 2012) | MIS robotic system (Co-supervised by Prof. Du)

Chen Xiaoguang (M.S., 2011) | Parallel kinematic system (Co-supervised by Prof. Du)

Publications
Journal Paper

36. Long Yi, Du Zhijiang, Weidong Wang, Dong Wei*, “Human motion intent learning based motion assistance control for a wearable exoskeleton”, Robotics and Computer Integrated Manufacturing, v.49, pp.317-327 (SCI, IF=2.846)

35. Long Yi, Du Zhijiang, Chen Chaofeng, Weidong Wang, He Long, Mao Xiwang, Xu Guoqiang, Zhao Guangyu, Dong Wei*, "Hybrid control scheme of a hydraulically actuated lower extremity exoskeleton for load-carrying", Journal of Intelligent & Robotic Systems, In press (SCI, IF=1.512)

34. Chen Fangxin, Du Zhijiang, Yang Miao, Gao Futian, Dong Wei*, Zhang Dan, “Design and analysis of a three-dimensional bridge-type mechanism based on the stiffness distribution”, Precision Engineering, Online, (SCI, IF=2.237)

33. Long Yi, Du Zhijiang, Wang Weidong, He Long, Mao Xiwang, Dong Wei*,“Physical human-robot interaction estimation-based control scheme for a hydraulically actuated exoskeleton designed for power amplification”, Frontiers of Information Technology & Electronic Engineering, Online, (SCI, IF=0.770)

32. Dong Wei, Chen Fangxin, Yang Miao, Du Zhijiang*, Tang Jiong, Zhang Dan, “Development of a highly efficient bridge-type mechanism based on

negative stiffness”, Smart Materials and Structures, v.26, n.9, 095053 (SCI, IF=2.909)

31. Long Yi, Du Zhijiang, Chen Chaofeng, Wang Weidong, Dong Wei*, “Development of a lower extremity wearable exoskeleton with double compact elastic module: preliminary experiment”, Mechanical Sciences, v.8, pp.249-258, (SCI, IF=1.211)

30. Du Zhijaing, Wang Wei, Wang Weidong, Dong Wei*, "Preoperative planning for a multi-arm robot-assisted minimally invasive surgery system", Simulation, Online, (SCI, IF=0.713)

29. Du Zhijiang, Wang Wei, Yan Zhiyuan, Dong Wei, Wang Weidong*, "Variable admittance control based on fuzzy reinforcement learning for the minimally invasive surgery manipulator", Sensors, 2017, v.17, 844, (SCI, IF=2.677)

28. Dong Wei, Chen Fangxin, Li Haiyang, Yang Miao, Du Zhijiang*, "A two-dimensional nano-positioner: design, modelling and experiments", Robotics and Computer Integrated Manufacturing, 2017, v.48, pp.167-173 (SCI, IF=2.846)

27. Long Yi, Du Zhijiang, Chen Chaofeng, Wang Weidong, He Long, Mao Xiwang, Xu Guoqiang, Zhao Guangyu, Li Xiaoqi, Dong Wei*, "Development and analysis of an electrically acutated lower extremity exoskeleton for robotic assistance", Journal of Bionic Engineering, 2017, v.14, n.2, pp.272-283 (SCI, IF=2.388)

26. Long Yi, Du Zhijiang, Cong Lin, Wang Weidong, Zhang Zhiming, Dong Wei*, "Active Disturbance Rejection Control Based Human Gait Tracking for Lower Extremity Rehabilitation Exoskeleton", ISA Transactions, 2017, v.67, pp.389-397 (SCI, IF=3.394)

25. Yang Miao, Du Zhijiang, Chen Fangxin, Dong Wei*, Zhang Dan, "Kinetostatic Modelling of a 3-PRR Planar Compliant Parallel Manipulator with Flexure Pivots", Precision Engineering, 2017, v.48, pp.323-330,(SCI, IF=2.237)

24. Long Yi., Du Zhijiang, Wang Weidong, Zhao Guangyu, Xu Guoqiang, He Long, Mao Xiwang, Dong Wei*, "PSO-SVM Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeleton", Sensors, 2016, v.16, n.9, 1408 (SCI, IF=2.033)

23. Duan Qingjuan, Du Zhijiang*, Yu Hongjian, Wang Yongfeng, Dong Wei, "The error analysis and experimental study of a bi-planar parallel mechanism in the pedicle screw robot system", Sensors, 2016, v.16, n.12, 2022 (SCI, IF=2.033)

22. Du Zhijiang, Yang Miao, Dong Wei*, Zhang Dan, "Static deformation modeling and analysis of flexure hinges made of shape memory alloy", Smart Materials and Structures, 2016, v.25, n.11, 115029 (SCI, IF=2.769)

21. Dong Wei, Li Haiyang, Du Zhijiang*, "A Planar Nano-positioner Driven by Shear Piezoelectric Actuators", AIP Advances, 2016, n.6, 085104 (SCI, IF=1.444)

20. Long Yi., Du Zhijiang, Wang Weidong, Dong Wei*, "Development of a Wearable Exoskeleton Rehabilitation System Based on Hybrid Control Mode", International Journal of Advanced Robotic Systems, 2016, v.13, pp.1-10 (SCI, IF=0.615)

19. Du Zhijiang, Yang Miao, Dong Wei*,"Multi-objective Optimization of a Type of Ellipse-Parabola Shaped Superelastic Flexure Hinges", Mechanical Sciences, 2016，v.7, n.1, pp.127-134 (SCI, IF=1.200)

18. Yang Miao, Du Zhijiang, Dong Wei*,"Modeling and Analysis of Planar Symmetric Superelastic Flexure Hinges", Precision Engineering, 2016, v.46, pp.177-184 (SCI, IF=1.914, 1 Citations)

17. Long Yi, Du Zhijiang, Wang Weidong, Dong Wei*,"Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton", Applied Bionics and Biomechanics, 2016, ** (SCI, IF=0.703, 1 Citations)

16. Yang Wenlong, Du Zhijiang, Dong Wei*, "Kinematics Modeling and Performance Optimization of a Kinematic-Mechanics Coupled Continuum Manipulator",Mechatronics, 2015, v.31, n.9, (SCI, IF=1.726)

15. Wang Wei, Wang Weidong, Dong Wei, Yu Hongjian, Yan Zhiyuan, Du Zhijiang*, "Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm", Advances in Mechanical Engineering, 2015, v.7, n.2, (SCI, IF=0.500, 1 Citation)

14. Du Zhijiang, Yang Wenlong, Dong Wei*, "Kinematics Modeling of a Notched Continuum Manipulator", ASME Journal of Mechanisms and Robotics, 2015, v.7, n.4, 041017 (SCI, IF=1.042, 1 Citations)

13. Du Zhijiang, Su Yanyu, Yang Wenlong, Dong Wei*, "A Piezo Tip/Tilt Platform: Structure, Kinematics and Experiments", Review of Scientific Instruments, 2014, v.85, n.4, 046102 (SCI, IF=1.602, 1 Citations)

12. Wang Weidong,Dong Wei, Su Yanyu, Wu Dongmei, Du Zhijiang*, “Development of search and rescue robots for underground coal mine applications”, Journal of Field Robotics, 2014, v.31, n.3, pp.386-407 (SCI, IF=2.152, 4 Citations)

11. Du Zhijiang, Shi Ruochong, Dong Wei*, “A piezo-actuated high-precision flexible parallel pointing mechanism: conceptual design, development and experiments”, IEEE Transactions on Robotics, 2014, v.30, n.1, pp.131-137 (SCI, IF=2.571, 13 Citations)

10. Shi Ruochong, Dong Wei, Du Zhijiang*, “Design methodology and performance analysis of application-oriented flexure hinges”, Review of Scientific Instruments, 2013, v.84, n.7, 075005 (SCI, IF=1.602, 5 Citation)

9. Du Zhijiang, Xiao Yongqiang, Dong Wei*, “Method for optimizing manipulator’s geometrical parameters and selecting reducers”, Journal of Central South University, 2013, v.20, n.5, pp.1235-1244 (SCI, IF=0.434, 1 Citation)

8. Dong Wei*, Du Zhijiang, Xiao Yongqiang, Chen Xiaoguang, “Development of a parallel kinematic motion simulator platform”, Mechatronics, 2013, v.23, n.1, pp.154-161 (SCI, IF=1.300, 13 Citations)

7. Dong Wei*, M. Gauthier, C. Lenders, P.Lambert, “A gas bubble-based parallel micro manipulator: conceptual design and kinematics model”, Journal of Micromechanics and Microengineering, 2012, v.22, n.5, 057001 (SCI, IF=2.105, 4 Citations)

6. Du Zhijiang, Shi Ruochong, Dong Wei*, “Kinematics modeling of a 6-PSS parallel mechanism with wide-range flexure hinges”, Journal of Central South University, 2012, v.19, n.9, pp.2482-2487 (SCI, IF=0.434, 5 Citations)

5. Xiao Yongqiang, Du Zhijiang, Dong Wei*, “Smooth and near time-optimal trajectory planning of industrial robots for online applications”, Industrial Robot –An International Journal, 2012, v.39, n.2, pp.169-177 (SCI, IF=0.690, 14 Citations)

4. Dong Wei*, David Rostoucher, Michael Gauthier, “A novel integrated microforce measurement system for plane-plane contact research”, Review of Scientific Instruments, 2010, v.81, n.11, 116101 (SCI, IF=1.602, 1 Citation)

3. Dong Wei*, Jiong Tang, Yasser ElDeeb, “Design of linear-motion dual-stage actuation system for precision control”, Smart Materials and Structures, 2009, v.18, n.9, 095035 (SCI, IF=2.024, 29 Citations)

2. Dong Wei*, Sun Lining, Du Zhijiang, “Stiffness research on a high-precision, large-workspace parallel mechanism with compliant joints”, Precision Engineering, v.32, 2008, pp.222-231 (SCI, IF=1.393, 26 Citations)

1. Dong Wei*, Sun Lining, Du Zhijiang, “Design of a precision compliant parallel positioner driven by dual piezoelectric actuators”, Sensors & Actuators A, Physics, v.135, 2007, pp.250-256 (SCI, IF=1.841, 69 Citations)





Conference Paper

Y. Su, Dong Wei, Y. Wu, Y. Demiris, Z. Du, “Increasing the Accuracy and Repeatability of Positioning Control for Micromanipulations using Heteroscedastic Gaussian Processes”,IEEE/ICRA 2014, pp. 4692-4698

Yang Wenlong, Dong Wei, and Du Zhijiang, “Mechanics-based kinematic modeling of a continuum manipulator”,IEEE/IROS 2013, pp. 5052-5058

Dong Wei, D. Rostoucher, M. Gauthier, “Kinematics parameters estimation for an AFM/Robot integrated micro-force measurement system”,IEEE/IROS 2010, pp. 6143-6148

Dong Wei, Sun Lining, and Du Zhijiang, “Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace”,IEEE/IROS 2005, pp.796-801

Dong Wei, Sun Lining, and Du Zhijiang, “Conceptional design and kinematics modeling of a wide-range flexure hinge-based parallel manipulator”,IEEE/ICRA 2005, pp.4042-4047

Positions
We constantly have openings for graduate assistantships. Currently, we invite applications for M.S. study with strong background in robotics and mechatronics.

We are particularly interested in candidates with expertise in robotic and mechatronics system design, smart material actuation, and control implementation.

For further information, please contact Dr. Wei Dong via dongwei@hit.edu.cn with your resume, a brief summary of your background, and relevant publications (if any).

News and Events
Dec. 16, 2014. Mr. Li Haiyang won the second place award in 2014 GE Foundation TECH Award. Mar. 17, 2014. Mr. Su Yanyu will participate in the conference IEEE/ICRA 2014, which will be held in Hongkang, China.Nov. 2, 2013. Mr. Su Yanyu and Mr. Yang Wenlong will participate in the conference IEEE/IROS 2013, which will be held in Tokyo, Japan.Jul. 1, 2013. Mr. Shi Ruochong received the honor of Gold Medal Graduate (top 5%). During purchasing his M.S. degree, Mr. Shi published 4 research papers.