徐凯 教授
所在系所机器人研究所
办公电话
通讯地址上海交大机械与动力工程学院A楼916室
电子邮件k.xu@sjtu.edu.cn
个人主页rii.sjtu.edu.cn


教育背景 2004-2009Columbia University Mechanical Engineering博士
2001-2004Tsinghua University Precision Instruments and Mechanology硕士
1997-2001Tsinghua University Precision Instruments and Mechanology学士

工作经历 2016至今，上海交通大学机械与动力工程学院，副教授
2015 - 2016，上海交通大学密西根学院，副教授
2010 - 2015, 上海交通大学密西根学院，助理教授

研究方向 1. 医疗机器人
（1）机器人辅助腹腔镜手术系统
（2）机器人辅助基于内窥镜的无创手术系统
（3）可穿戴式机动外骨骼辅助康复治疗
（4）用于心血管和颅内手术的微机器人
2. 特种工业机器人
用于深腔检测的柔性冗余机械臂
3. 服务业机器人
（1）智能假肢
（2）拟人机器人
（3）特种轮式移动平台
4. 机器人学理论
（1）理论运动学
（2）力感知和力控制
（3）连续体机构和连续体机器人的设计
（4）微电子机械系统
（5）机器视觉

科研项目 2017-2020，科技部国家重点研发计划“数字诊疗装备研发”专项，单孔腔镜手术机器人的关键部件研发和系统集成，负责人
2018-2020，国家自然科学基金委优秀青年科学基金项目，多杆连续体机构的机构学研究，负责人
2017-2019，国家自然科学基金委“共融机器人”重大研究计划培育项目，柔性连续体分拣机器人的拓扑综合、动力学分析和运动控制，负责人
2014-2017，国家自然科学基金面上项目，内窥镜型无创手术机器人的机构创生和系统总成，负责人
2014-2016，上海市科委启明星人才计划，柔性多杆连续体机构在高负载大变形条件下的刚度调控研究，负责人
2014-2015，上海航天技术研究院预研基金，基于超弹性镍基材料连续体的柔性机械臂技术研究，负责人
2011-2014，韩国三星综合技术院，单孔腹腔镜微创手术机器人，负责人
2011-2013，上海市科委浦江人才计划，手自复用的单口腹腔镜微创手术器械的研发及其临床应用，负责人
2011-2013，国家自然科学基金青年基金项目，利用人体自然开口的机器人辅助无创手术内窥镜的设计制备研究，负责人
2010-2012，密西根大学-上海交通大学联合科研项目种子基金，用于先进诊断和治疗的多功能内窥镜医疗设备，负责人
2010-2013，教育部新世纪优秀人才支持计划，先进机器人技术在临床医疗中的应用，负责人

代表性论文专著 1. K. Xu, Z. Liu, B. Zhao, H. Liu, and X. Zhu, "Composed Continuum Mechanism for Compliant Mechanical Postural Synergy: An Anthropomorphic Hand Design Example," Mechanism and Machine Theory, vol. 132, pp. 108-122, Feb 2019.
2. 徐凯 and 刘欢, "多杆连续体机构:构型与应用," 机械工程学报, Vol. 54, No.13, pp. 25-33, Jul 2018.
3. K. Xu, H. Liu, Z. Zhang, and X. Zhu, "Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 26, No.3, pp. 609-618, March 2018.
4. K. Xu and H. Liu, "Continuum Differential Mechanisms and Their Applications in Gripper Designs," IEEE Transactions on Robotics, Vol. 32, No.3, pp. 754-762, June 2016. [FULLTEXT]
5. K. Xu, H. Liu, Y. Du, and X. Zhu, "A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods," International Journal of Humanoid Robotics, Vol. 13, No.3, pp. **, 2016. [FULLTEXT]
6. S. Liu, Z. Yang, Z. Zhu, L. Han, X. Zhu, and K. Xu, "Development of a Dexterous Continuum Manipulator for Exploration and Inspection in Confined Spaces," Industrial Robot: An International Journal, Vol. 43, No.3, pp. 284-295, 2016.[FULLTEXT]
7. K. Xu, J. Zhao, and X. Zheng, "Configuration Comparison among Kinematically Optimized Continuum Manipulators for Robotic Surgeries through a Single Access Port," Robotica, Vol. 33, No.10, pp. 2025-2044, Dec 2015. [FULLTEXT]
8. K. Xu, J. Zhao, and M. Fu, "Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," IEEE/ASME Transactions on Mechatronics, Vol. 20, No.5, pp. 2133-2145, Oct 2015. [FULLTEXT]
9. Y. Wang, R. K. Chen, B. L. Tai, K. Xu and A. J. Shih, "Study of Insertion Force and Deformation for Suturing With Precurved NiTi Guidewire," Journal of Biomechanical Engineering, Vol. 137, No.4, pp. 041004, April 2015. [FULLTEXT]
10. J. Zhao, B. Feng, M.-H. Zheng, and K. Xu, "Surgical Robots for SPL and NOTES: a Review," Minimally Invasive Therapy and Allied Technologies, Vol. 24, No. 1, pp. 8-17, Jan 2015. [FULLTEXT]
11. K. Xu, H. Liu, Y. Du, and X. Zhu, "Design of an Underactuated Anthropomorphic Hand with Mechanically Implemented Postural Synergies," Advanced Robotics, Vol. 28, No. 21, pp. 1459-1474, Nov 2014. [FULLTEXT]
12. K. Xu, J. Zhao, D. Qiu, and Y. Wang, "A Pilot Study of a Continuum Shoulder Exoskeleton for Anatomy Adaptive Assistances," ASME Journal of Mechanisms and Robotics, Vol. 6, No. 4, pp. 041011, Jun 2014 [FULLTEXT]
13. J. Ding, R. E. Goldman, K. Xu, P. K. Allen, D. L. Fowler, and N. Simaan, "Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery," IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 5, pp. 1612-1624, Oct 2013 [FULLTEXT]
14.徐凯, "连续体机构在单腔镜微创手术机器人系统中的应用", 机器人技术与应用, Vol. 2011, No. 4, pp. 28-32, 2011
15. K. Xu and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," IEEE Transactions on Robotics, Vol.26, pp.555-561, June, 2010 [FULLTEXT]
16. K. Xu and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ASME Journal of Mechanisms and Robotics, Vol. 2, DoI.011006-1, Feb, 2010 [FULLTEXT]
17. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," International Journal of Robotics Research, Vol. 28, No. 9, 1134-1153 [FULLTEXT]
18. K. Xu and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," IEEE Transactions on Robotics, vol. 24, pp. 576-587, June 2008 [FULLTEXT]
19. 徐凯, 陈恳, 刘莉, and 杨东超, "基于六维力/力矩传感器和关节力矩的仿人机器人步态补偿算法", 机器人, Vol. 28, No. 2, pp. 213-218, 2006
20. 徐凯, 陈恳, 刘莉, and 杨东超, "基于主支撑腿运动优化的仿人机器人快速步态规划算法", 机器人, Vol. 27, No. 3, pp. 203-209, 2005
21. 赵建东, 徐凯, 付成龙, 杨向东 and 陈恳, "仿人机器人踝侧摆的自调节模糊非线性控制研究", 机器人, Vol. 26, No. 2, pp. 127-132, 2004
22. 杨东超, 刘莉, 徐凯, 汪劲松 and 陈恳, "拟人机器人运动学分析", 机械工程学报, Vol. 39, No. 9, pp. 70-74, 2003
23. 欧阳兴, 陈恳, 徐凯 and 汪劲松, "弹性变形对仿人机器人步态规划的影响分析", 机床与液压, Vol. 185, No. 5, pp. 19-21, 2003
24. 赵建东, 邵黎君, 徐凯, 刘莉 and 陈恳, "基于CAN总线的仿人机器人关节伺服控制系统研究", 机器人, Vol. 24, No. 5, pp. 421-426, 2002
25. 杨东超, 徐凯, 刘莉, and 陈恳, "利用3DS MAX实现拟人机器人动画仿真", 机械设计与制造, Vol. 2002, No. 4, pp. 48-49, 2002

教学工作 1. UM-SJTU JI VM350 Design and Manufacture II
2. UM-SJTU JI VM450 Design and Manufacture III
3. UM-SJTU JI VM551 Mechanisms Design
4. UM-SJTU JI VM567 Introduction to Robotics
5. Advanced Topics in Robotics and Mechanism Synthesis

软件版权登记及专利 1. 徐凯, 朱向阳, 阳志雄, 刘欢, 朱志军, 陈煜阳, 梁博 and 赵彬, 一种模块化高冗余多自由度柔性机械臂系统, ZL5.2, 2018.6.26
2. 徐凯, 朱向阳, 阳志雄, 刘欢, 朱志军 and 韩亮亮, 一种模块化高冗余多自由度柔性机械臂系统, ZL0.5, 2017.10.10
3. 徐凯, 戴正晨, 冯波, 赵江然, 阳志雄, 梅务昆 and 郑民华, 手持式可翻展单孔腹腔镜, ZL6.1, 2017.08.11
4. 徐凯, 朱向阳, 刘欢, 杜宇恒, 刘增辉 and 盛鑫军, 基于连续体差动机构的单电机欠驱动假肢手, A61F2/56, ZL3.0, 2016.10.19
5. 徐凯, 赵江然, 傅敏霄, 阳志雄, 戴正晨 and 梅务昆, 单孔腹腔镜微创手术机器人系统, A61B17/94, ZL9.1, 2016.04.13
6. 徐凯, 赵江然, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, ZL5.9, 2016.03.16
7. 徐凯, 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 一种基于行星齿轮系的欠驱动假肢手系统, A61F2/54, ZL7.5, 2016.01.13
8. 徐凯, 赵江然, 邱冬, 郑西点, 冯波 and 郑民华, 基于内窥镜的快速缝合机构, A61B17/04, ZL1.3, 2015.07.29
9. 徐凯, 朱向阳, 刘欢, 杜宇恒, 赵江然 and 刘国庆, 基于连续体传动机构的欠驱动假肢手, A61F2/54, ZL4.X, 2015.07.22
10. 徐凯, 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 基于流体转换的外骨骼辅助康复治疗系统, A61H1/02, ZL1.6, 2015.04.08
11. 徐凯, 朱向阳, 汪友, 赵江然, 刘国庆, 傅敏宵 and 阳志雄, 自助式双侧同步外骨骼康复机构, A61H1/00, ZL3.4, 2015.03.18
12. 徐凯, 赵江然, 郑西点, 邱冬, 冯波 and 郑民华, 内窥镜无创手术系统, A61B17/00, ZL6.X, 2015.03.18
13. 徐凯, 朱向阳, 邱冬, 赵江然, 刘国庆 and 汪友, 外骨骼辅助康复治疗系统, A61F4/00, ZL2.6, 2015.03.11
14. 徐凯, 赵江然, 郑西点, 傅敏霄, 戴正晨, 冯波 and 郑民华, 单孔腹腔镜微创手术成像系统, A61B1/04, ZL4.3, 2015.02.04
15. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL8.2, 2014.06.11
16. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL2.5, 2014.05.21
17. 徐凯 and 赵江然, 可控自弯缝针, A61B17/06, ZL1.0, 2013.12.11
18. Nabil Simaan, Kai Xu, Roger Goldman, Peter Allen, Dennis Fowler, "Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery," U.S. 61/103,415, October 2008.
19. Nabil Simaan, Kai Xu, "System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots," U.S. 61/147,275, January 2009.

学术兼职 1. Editorship
a) Associate editor, 2016 IEEE International Conference on Robotics and Automation (ICRA 2016).
b) Associate editor, 2015 IEEE International Conference on Robotics and Automation (ICRA 2015).
c) Associate editor, 2014 IEEE International Conference on Robotics and Automation (ICRA 2014).
2. Reviewership
a) Reviewer, IEEE Transactions on Robotics (Excellent Reviewer for 2014)
b) Reviewer, IEEE/ASME Transactions on Mechatronics
c) Reviewer, IEEE Transactions on Automation Science and Engineering
d) Reviewer, Bioinspiration & Biomimetics
e) Reviewer, IEEE International Workshop on Robots and Human Interactive Communications (RO-MAN)
f) Reviewer, ASME 2014 Dynamic Systems and Control (DSC) Conference
g) Reviewer, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
h) Reviewer, IEEE International Conference on Information and Automation (ICIA)
i) Reviewer, IEEE International Conference on Robotics and Biomimetics (ROBIO)
3. Organizer
a) Program Committee Member, Robotics: Science and Systems (RSS)
b) Organizing Committee Member and Session Chairs, IEEE International Conference on Information and Automation (ICIA)
c) Program Committee Member, IEEE International Conference on Robotics and Biomimetics (ROBIO)
d) Technical Program Committee Member, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

荣誉奖励 2014, Awardee, Shanghai Rising Star Program, Shanghai Metropolitan Government
2011, Awardee, Shanghai Pujiang Scholar Program, Shanghai Metropolitan Government
2010, Marquis Who's Who in America
2009, Awardee, New Century Excellent Talents in University Program (NCET), Ministry of Education, China
2009, Dissertation with Distinction, Columbia University
2008, Chinese Government Award for Outstanding Self-Financed Students Abroad, Ministry of Education, China
2004, Presidential Distinguished Fellowship, Columbia University
2004, Excellent Master Thesis Award, Tsinghua University
2002, Guanghua Scholarship, Second Prize, Tsinghua University
2001, Leadership Activity Scholarship for Outstanding Student Leaders, Tsinghua University
2000, Guanghua Scholarship, Second Prize, Tsinghua University
1999, IET Scholarship for Excellent Academic and Leadership Performance, IET Foundation
1998, Second Prize for Excellent Academic Performances, Tsinghua University
1997, Second Prize for Outstanding Freshmen, Tsinghua University
1996, National First Prize in the Chinese Mathematical Olympiad, Ministry of Education, China
1996, National First Prize in the Chinese Physics Olympiad, Ministry of Education, China
1996, National Second Prize in the Chinese Chemistry Olympiad, Ministry of Education, China