X. (2023) – J – SoRo – SeeThruFinger | PDF | ArXiv
Fang Wan, and Chaoyang Song* (2023). “SeeThruFinger: See and Grasp Anything with a Soft Touch.” Soft Robotics. (Under Review)

X. (2023) – J – Biomimetics – PropSkinTouch | PDF | ArXiv
Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song* (2023). “Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.” Biomimetics. (Under Review)

X. (2023) – C – ICRA2024 – SoftRoboticTongs | PDF | ArXiv
Yujian Dong#, Tianyu Wu#, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song* (2023). “Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning.” IEEE International Conference on Robotics and Automation (ICRA). (Under Review)

X. (2023) – C – ICRA2024 – ACDC4Robot | PDF | ArXiv | GitHub
Nuofan Qiu, Fang Wan*, and Chaoyang Song* (2023). “Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots.” IEEE International Conference on Robotics and Automation (ICRA). (Under Review)

X. (2023) – C – ICRA2024 – InFingerSoftManip | PDF | ArXiv
Sen Li, Fang Wan*, and Chaoyang Song* (2023). “Active Surface with Passive Omni-Directional Adaptation of Soft Polyhedral Fingers for In-Hand Manipulation.” IEEE International Conference on Robotics and Automation (ICRA). (Under Review)

X. (2023) – C – ICRA2024 – VisualPropModel | PDF | ArXiv
Ning Guo, Xudong Han, Shuqiao Zhong, Xiaobo Liu, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song* (2023). “Visual-based Proprioception Model towards Soft Finger.” IEEE International Conference on Robotics and Automation (ICRA). (Under Review)

X. (2023) – C – ICDL – TactileMap | PDF | ArXiv
Xudong Han, Sheng Liu, Fang Wan* and Chaoyang Song* (2023). “Vision-based Tactile Sensing for an Omni-adaptive Soft Finger.” IEEE International Conference on Development and Learning (ICDL). Macau, China, on 9-11 November 2023 (Accepted).

X. (2023) – C – CASE – ThroatHead | PDF | ArXiv
Yuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song* (2023). “Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance.” IEEE International Conference on Automation Science and Engineering (CASE). Auckland, New Zealand, on 26-30 August 2023 (Accepted).
Award: IEEE RAS Travel Grant (Rongzheng Zhang) | About the Award
Award: Best Healthcare Automation Paper Award | About the Award

29. (2023) – J – JCDE – OCLimbDesign | PDF
Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “Computational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs.” Journal of Computational Design and Engineering, 10: 1-16.
doi: https://doi.org/10.1093/jcde/qwad083

28. (2023) – J – Biomimetics – LocoManipulation | PDF
Haoran Sun#, Linhan Yang#, Yuping Gu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.” Biomimetics, 8(4), 364.
doi: https://doi.org/10.3390/biomimetics8040364

27. (2023) – J – AIS – UnderwaterSuperlimb | PDF
Jiayu Huo#, Jingran Wang#, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, Harry Asada, Fang Wan*, and Chaoyang Song* (2023). “Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.” Advanced Intelligent Systems, 2300245.
doi: https://doi.org/10.1002/aisy.202300245

26. (2023) – J – RAL – TacGNN | PDF
Linhan Yang, Bidan Huang*, Qingbiao Li, Ya-Yen Tsai, Wang Wei Lee, Chaoyang Song, and Jia Pan (2023). “TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot using Hierarchical Graph Neural Network.” IEEE Robotics and Automation Letters, 8(6): 3605-3612.
doi: https://doi.org/10.1109/LRA.2023.3264759

25. (2023) – J – Robotica – MagneticLocalization | PDF
You Li, Zhuokang Huang, Xiaobo Liu, Yu Jie, Chaoyang Song, and Chengzhi Hu* (2023). “Calibrated analytical model for magnetic localization of wireless capsule endoscope based on onboard sensing.” Robotica, 41, pp. 1500–1514.
doi: https://doi.org/10.1017/S0263574722001849

24. (2022) – J – MMT – BennettRoboticLeg | PDF
Yuping Gu, Shihao Feng, Yuqin Guo, Fang Wan, Jian S. Dai, Jia Pan, and Chaoyang Song* (2022). “Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion.” Mechanism and Machine Theory, 176:105018.
doi: https://doi.org/10.1016/j.mechmachtheory.2022.105018

22. (2022) – J – TEM – Crowdfunding | PDF | ArXiv
Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Warren Seering, and Kevin Otto (2022). “Crowdfunding for Design Innovation: Prediction Model with Critical Factors.” IEEE Transactions on Engineering Management, 69(4):1565-1576.
doi: https://doi.org/10.1109/tem.2020.3001764

21. (2022) – J – RAL – TactileSkin | PDF
Youcan Yan, Yajing Shen, Chaoyang Song, and Jia Pan* (2022). “Tactile Super-Resolution Model for Soft Magnetic Skin.” IEEE Robotics and Automation Letters, 7(2):2589-2596.
doi: https://doi.org/10.1109/LRA.2022.3141449 

20. (2022) – J – FROBT – DeepClaw2.0 | PDF
Haokun Wang, Xiaobo Liu, Nuofan Qiu, Ning Guo, Fang Wan, and Chaoyang Song* (2022). “DeepClaw 2.0: A Data Collection Platform for Learning Human Manipulation.” Frontiers in Robotics and AI, 9:787291.
doi: https://doi.org/10.3389/frobt.2022.787291

19. (2021) – J – RAL – VESA | PDF
Baiyue Wang, Weijie Guo, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song* (2021). “Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing.” IEEE Robotics and Automation Letters, 6(3):5284-5291.
doi: https://doi.org/10.1109/LRA.2021.3072859

18. (2021) – J – RAL – OptoSensingFinger | PDF
Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “Learning-based Optoelectronically Innervated Tactile Finger for Rigid- Soft Interactive Grasping.” IEEE Robotics and Automation Letters, 6(2):3817-3824.
doi: https://doi.org/10.1109/LRA.2021.3065186

16. (2020) – J – TMech – OtariidaeSuperlimb | PDF
Sicong Liu, Yuming Zhu, Zicong Zhang, Zhonggui Fang, Jiyong Tan, Jing Peng, Chaoyang Song, Harry Asada, and Zheng Wang* (2020). “Otariidae-inspired Soft-robotic Supernumerary Flippers by Fabric Kirigami and Origami.” IEEE/ASME Transactions on Mechatronics, 26(5):2747-2757.
doi: https://doi.org/10.1109/TMECH.2020.3045476

15. (2021) – J – FROBT – LobsterFingerSurface | PDF
Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan and Chaoyang Song* (2022). “Rigid–Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater.” Frontiers in Robotics and AI, 8:787187.
doi: https://doi.org/10.3389/frobt.2021.787187

14. (2020) – J – RAL – OmniGripper | PDF
Fang Wan, Haokun Wang, Jiyuan Wu, Yujia Liu, Sheng Ge, and Chaoyang Song* (2020). “A Reconfigurable Design for Omni-adaptive Grasp Learning.” IEEE Robotics and Automation Letters, 5(3):4210-4217.
doi: https://doi.org/10.1109/lra.2020.2982059

13. (2020) – J – RAL – InteractiveLearning | PDF
Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song* (2020). “Rigid-Soft Interactive Learning for Robust Grasping.” IEEE Robotics and Automation Letters, 5(2):1720-1727.
doi: https://doi.org/10.1109/lra.2020.2969932

12. (2020) – J – FROBT – FlangeCalibration | PDF
Fang Wan and Chaoyang Song* (2020). “Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate.” Frontiers in Robotics and AI, 7:65.
doi: https://doi.org/10.3389/frobt.2020.00065

11. (2019) – J – TRO – OrigamiJoint | PDF
Juan Yi, Xiaojiao Chen, Chaoyang Song, Jianshu Zhou, Yujia Liu, Sicong Liu, and Zheng Wang* (2019). “Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions.” IEEE Transactions on Robotics, 35(1):114-123.
doi: https://doi.org/10.1109/tro.2018.2871440

10. (2018) – J – SoRo – FORA | PDF
Juan Yi, Xiaojiao Chen, Chaoyang Song, and Zheng Wang* (2018). “Fiber-Reinforced Origamic Robotic Actuator.” Soft Robotics, 5(1):81–92.
doi: https://doi.org/10.1089/soro.2016.0079

9. (2018) – J – JMD – InnovationCharacteristics | PDF
Katja Hölttä-Otto*, Kevin Otto, Chaoyang Song, Jianxi Luo, Timothy Li, Carolyn C. Seepersad, Warren Seering (2018). “The Characteristics of Innovative, Mechanical Products—10 Years Later.” Journal of Mechanical Design, 140(8):084501.
doi: https://doi.org/10.1115/1.4039851

8. (2018) – J – FROBT – LogicalLearning | PDF | ArXiv
Fang Wan and Chaoyang Song* (2018). “A Neural Network with Logical Reasoning based on Auxiliary Inputs.” Frontiers in Robotics and AI, 5:86.
doi: https://doi.org/10.3389/frobt.2018.00086

7. (2017) – J – JMM – HybridActuator | PDF
Yaohui Chen, Fang Wan, Tong Wu, and Chaoyang Song* (2017). “Soft-rigid Interaction Mechanism towards a Lobster-inspired Hybrid Actuator.” Journal of Micromechanics and Microengineering, 28(1):014007.
doi: https://doi.org/10.1088/1361-6439/aa9e25

6. (2015) – J – MMT – BennettNetwork | PDF
Chaoyang Song, Huijuan Feng, Yan Chen*, I-Ming Chen, and Rongjie Kang (2015). “Reconfigurable Mechanism Generated from the Network of Bennett Linkages.” Mechanism and Machine Theory, 88:49–62.
doi: https://doi.org/10.1016/j.mechmachtheory.2015.02.003

5. (2014) – J – JMR – BricardKinematics | PDF
Chaoyang Song, Yan Chen*, and I-Ming Chen (2014). “Kinematic Study of the Original and Revised General Line-Symmetric Bricard 6R Linkages.” Journal of Mechanisms and Robotics, 6(3):031002.
doi: https://doi.org/10.1115/1.4026339

4. (2013) – J – MMT – BricardBennett | PDF
Chaoyang Song, Yan Chen*, and I-Ming Chen (2013). “A 6R Linkage Reconfigurable between the Line-symmetric Bricard Linkage and the Bennett Linkage.” Mechanism and Machine Theory, 70:278–292.
doi: https://doi.org/10.1016/j.mechmachtheory.2013.07.013

3. (2012) – J – MMT – DoubleSubtractiveGoldberg | PDF
Chaoyang Song and Yan Chen* (2012). “Multiple Linkage Forms and Bifurcation Behaviours of the Double-subtractive-Goldberg 6R Linkage.” Mechanism and Machine Theory, 57:95–110.
doi: https://doi.org/10.1016/j.mechmachtheory.2012.07.002

2. (2011) – J – RoyalSocietyA – MixedDoubleGoldberg | PDF
Chaoyang Song and Yan Chen* (2011). “A Family of Mixed Double-Goldberg 6R Linkages.” Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 468(2139):871–890.
doi: https://doi.org/10.1098/rspa.2011.0345

1. (2011) – J – MMT – DoubleSubtractiveGoldberg | PDF
Chaoyang Song and Yan Chen* (2011). “A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages.” Mechanism and Machine Theory, 46(8):1097–1106.
doi: https://doi.org/10.1016/j.mechmachtheory.2011.03.006

21. (2023) – C – ICARM – JigsawLearning | PDF | ArXiv
Xiaobo Liu#, Fang Wan#*, Sheng Ge, Haokun Wang, Haoran Sun, and Chaoyang Song (2023). “Jigsaw-based Benchmarking for Learning Robotic Manipulation.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM). Sanya, China, 8-10 July 2023, pp. 124-130.
doi: https://doi.org/10.1109/ICARM58088.2023.10218784
Awards: Best Conference Paper Finalist | About the Award

20. (2022) – C – IDETC – SoftWearableElbow | PDF
Juan Yi, Xiaojiao Chen, Zhonggui Fang, Yujia Liu, Dehao Duanmu, Yinyin Su, Chaoyang Song, Sicong Liu, Zheng Wang* (2022). “A Soft Wearable Elbow Skeleton for Safe Motion Assistance by Variable Stiffness.” Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 46th Mechanisms and Robotics Conference (MR). Cleveland, Ohio, USA. 14–17 August 2022. V007T07A052. Paper No: DETC2022-90320.
doi: https://doi.org/10.1115/DETC2022-90320

19. (2021) – C – RoboSoft – LobsterSurface | PDF
Haiyang Jiang, Yonglin Jing, Ning Guo, Weijie Guo, Fang Wan, and Chaoyang Song* (2021). “Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness,” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 12-16 April 2021, pp. 321-326.
doi: https://doi.org/10.1109/RoboSoft51838.2021.9479215

18. (2021) – C – ICRA – OverconstrainedLeg | PDF
Shihao Feng, Yuping Gu, Weijie Guo, Yuqin Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility.” IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, pp. 11477-11484.
doi: https://doi.org/10.1109/ICRA48506.2021.9561829

17. (2021) – C – CoRL – VisualForceLearning | PDF
Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, and Chaoyang Song* (2020). “Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness.” Proceedings of the 5th Conference on Robot Learning (CoRL), PMLR 164:1269-1278, 2022.
URL: https://proceedings.mlr.press/v164/wan22a

16. (2020) – C – RoboSoft – OmniFinger | PDF | ArXiv
Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, and Chaoyang Song* (2020). “Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 572-577.
doi: https://doi.org/10.1109/robosoft48309.2020.9116026

15. (2020) – C – RoboSoft – SuperCane | PDF | ArXiv
Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, and Chaoyang Song* (2020). “Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 599-606.
doi: https://doi.org/10.1109/robosoft48309.2020.9116028

14. (2020) – C – AIM – DeepClaw | PDF | ArXiv
Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, and Chaoyang Song* (2020). “DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 6-10 July 2020, pp. 2011-2018.
doi: https://doi.org/10.1109/aim43001.2020.9159011

13. (2019) – C – RCAR – SoftAnkle | PDF
Xinyao Hu*, Chuang Luo, Hao Li, Liyao Jia, Chaoyang Song, Zheng Wang, and Xingda Qu (2019). “An Ankle Based Soft Active Orthotic Device Powered by Pneumatic Artificial Muscle.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 4-9 August 2019, pp. 374-378.
doi: https://doi.org/10.1109/RCAR47638.2019.9043948

12. (2018) – C – RCAR – AcrobotDynamics | PDF
Xiaojiao Chen, Tommy Hu, Chaoyang Song, and Zheng Wang* (2018). “Analytical Solution to Global Dynamic Balance Control of the Acrobot.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Kandima, Maldives, 1-5 August 2018, pp. 405-410.
doi: https://doi.org/10.1109/rcar.2018.8621827

11. (2017) – C – ICRA – LobsterActuator | PDF | ArXiv
Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song* (2017). “A Reconfigurable Hybrid Actuator with Rigid and Soft Components.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 58-63.
doi: https://doi.org/10.1109/icra.2017.7988691

10. (2017) – C – ICRA – LobsterGlove | PDF | ArXiv
Juan Yi, Zhong Shen, Chaoyang Song, and Zheng Wang* (2017). “A Lobster-inspired Robotic Glove for Hand Rehabilitation.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 111-116.
doi: https://doi.org/10.1109/icra.2017.7989556

9. (2017) – C – ROBIO – GaitWearable | PDF | ArXiv
Fang Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, and Chaoyang Song* (2017). “Hybrid Actuator Design for a Gait Augmentation Wearable.” IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao, 5-8 December 2017, pp. 2298-2302.
doi: https://doi.org/10.1109/robio.2017.8324761

8. (2017) – C – IDETC – LobsterMechanics | PDF | ArXiv
Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, and Chaoyang Song* (2017). “A Lobster-Inspired Hybrid Actuator with Rigid and Soft Components.” Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 41st Mechanisms and Robotics Conference. Cleveland, Ohio, USA. 6-9 August 2017. V05BT08A023.
doi: https://doi.org/10.1115/detc2017-68082

7. (2016) – C – RCAR – SoftGlove | PDF
Juan Yi, Zhong Shen, Chaoyang Song, and Zheng Wang* (2016). “A soft robotic glove for hand motion assistance.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, Cambodia, 6-10 June 2016, pp. 111-116.
doi: https://doi.org/10.1109/rcar.2016.7784010
Award: Best Conference Paper Award Finalist | About RCAR

6. (2015) – C – IDETC – CrowdFundedDesign | PDF
Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, Warren Seering (2015). “The Design of Crowd-Funded Products.” Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 27th International Conference on Design Theory and Methodology. Boston, Massachusetts, USA. 2-5 August 2015. V007T06A040.
doi: https://doi.org/10.1115/detc2015-46917

5. (2015) – C – ICED – RiskInnovation | PDF
Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, and Warren Seering (2015). “Risk and Innovation Balance for Crowd-Funded New Venture Products.” International Conference on Engineering Design (ICED), Vol 8: Innovation and Creativity, Milan, Italy, 27-30.07.15.
https://www.designsociety.org/publication/37919/RISK+AND+INNOVATION+BALANCE+IN+CROWDFUNDING+NEW+PRODUCTS
Award: ICED Reviewers’ Favorites Award | About Design Society and ICED

4. (2014) – C – AoM – InnovationDifference | PDF
Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, and Kevin Otto (2014). “Product Innovation Differences between New Ventures and Incumbent Firms.” Annual Meeting of the Academy of Management (AoM). Philadelphia, PA, USA, 1-5 August 2014.
doi: https://doi.org/10.5465/ambpp.2014.13204abstract

3. (2013) – C – ISRM – BricardBifurcation | PDF
Chaoyang Song, Yan Chen*, and I-Ming Chen (2013). “Bifurcation Behaviour of the Line-Symmetric Bricard Linkage without Offsets.” IFToMM International Symposium on Robotics and Mechatronics (ISRM), Singapore, 2-4 October 2013.
doi: https://doi.org/10.3850/978-981-07-7744-9_064

2. (2012) – C – ReMAR – SpecialWohlhart | PDF
Chaoyang Song and Yan Chen* (2012). “A Special Wohlharts Double-Goldberg 6R Linkage and Its Multiple Operation Forms among 4R and 6R Linkages.” ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR), 1:168999. Tianjin, China, 9-11 July 2012.
doi: https://doi.org/10.1007/978-1-4471-4141-9_5
Award: Young Delegate Travel Grant | About IFToMM and ReMAR

1. (2011) – C – MuSME – GoldbergBifurcation | PDF
Chaoyang Song and Yan Chen* (2011). “The Original Double-Goldberg 6R Linkage and Its Bufircation Analysis.” IFToMM International Symposium on Multibody Systems and Mechatronics (MuSME), 50922. Valencia, Spain, 25-28 October 2011.
doi: https://doi.org/10.13140/2.1.2041.3764

1. (2013) – T – NTU – KinematicsDesign | PDF
Chaoyang Song (2013). “Kinematic Study of Overconstrained Linkages and Design of Reconfigurable Mechanisms.” Nanyang Technological University, Singapore, 190 pages. https://hdl.handle.net/10356/55261
Source: https://dr.ntu.edu.sg/handle/10356/55261