Publication

Book/Book Chapters

[3] Zheng Li and Calvin S.H. Ng, 'Future Development & Technologies' in Diego Gonzalez-Rivas, Calvin Sze Hang Ng, Gaetano Rocco, and Thomas A. D'Amico (Eds), 'Atlas of Uniportal Video Assisted Thoracic Surgery', Spinger Verlag, April. 2019

[2] Ruxu Du, Zheng Li, Kamal Youcef-Toumi, and Pablo Valdivia y Alvarado, edited, Robot Fish, Bio-inspired Fishlike Underwater Robots, Springer, 2015.

[1] Li Zheng and Du Ruxu, "A Novel Lighter-Than-Air-Vehicle - Flying Octops", in Faruk and Ceccarelli (Eds), "Mobile Robots for Dynamics Environments" (pp. 27-53), New york, NY: ASME press, 2015.

Journal

[58] Tianle Pan, Mancheong Lei, Wingyin Ng, Zheng Li, 'Analytical Modeling of the Interaction Between Soft Balloon-Like Actuators and Soft Tubular Environment for Gastrointestinal Inspection', Soft Robotics, 2021

[57] Weibing Li, Philip Wai Yan Chiu, Zheng Li*, 'A novel Neural Approach to Infinity-Norm Joint-Velocity Minimization of Kinematically Redundant Robots Under Joint Limits', IEEE Transactions on neural Networks and Learning Systems, 2021

[56] Zonggao Mu, Yongquan Chen, Zheng Li, Huihuan Qian, Ning Ding, 'A Spatial Biarc Method for Inverse Kinematics and Configuration Planning of Concentric Cable-Driven Manipulators', IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021

[55] Truman Cheng, Weibing Li, Wingyin Ng, Yisen Huang, Jixiu Li, Calvin S.H. Ng, Philip Waiyan Chiu, Zheng Li, 'Deep Learning Assisted Robotic Magnetic Anchored and Guided Endoscope for Real-Time Instrument Tracking', IEEE Robotics and Automation Letters 6 (2), 3979-3986, 2021

[54] Ho lam Heung, Xiang Qian Shi, Zhi Qiang Tang, Raymond Kai-yu Tong*, Zheng Li*, 'Verification of Finger Joint Stiffness Estimation Method with Soft Robotic Actuator', Frontiers in Bioengineering and Biotechnology, 2020 (online)

[53] Olatunji Mumini Omisore, Shipeng Han, Jing Xiong, Hui Li, Zheng Li, Lei Wang, ‘A Review on Flexible Robotic Systems for Minimally Invasive Surgery’, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020 (early access, online) 

[52] Xin Ma, Philip Waiyan Chiu and Zheng Li*, 'Static Model Assisted Stereo-Visual Shape Sensing of Flexible Manipulators', IEEE Sensors Journal, (accepted)

[51] Weibing Li, Truman Cheng, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li*, 'Kinematic Modeling and Visual Servo Control of a Soft-Bodied Magnetic Anchored and Guided Endoscope', IEEE/ASME Transactions on Mechatronics, (accepted)

[50] Ho Lam Heung, Zhi Qiang Tang, Xiang Qian Shi, Kai Yu Tong* and Zheng Li*, 'Soft Rehabilitation Actuator with Integrated Post-Stroke Finger Spasticity Evaluation', Frontiers in Bioengineering and Biotechnology-Bionics and Biomimetics, (accepted)

[49] Minxin Ye, Weibing Li, Danny Tatming Chan, Philip Waiyan Chiu, Zheng Li, 'A Semi-autonomous Stereotactic Brain Biopsy Robot with Enhanced Safety', IEEE Robotics and Automation Letters (RA-L), (accepted)

[48] Zhiqiang Tang, Kelvin Holam Heung, Raymond Kaiyu Tong, Zheng Li, 'A Probabilistic Model-based Online Learning Optimal Control Algorithm for Soft Pneumatic Actuators', IEEE Robotics and Automation Letters (RA-L), (accepted)

[47] Weibing Li, Philip W.Y. Chiu and Zheng Li, 'An Accelerated Finite-Time Convergent Neural Network for Visual Servoing of a Flexible Surgical Endoscope with Physical and RCM Constraints', IEEE Transactions on Neural Networks and Learning Systems (TNNLS), (accepted)

[46] Xue Zhang, Weibing Li, Philip W.Y. Chiu and Zheng Li, 'A Novel Flexible Robotic Endoscope with Constrained Tendon-driven Continuum Mechanism', IEEE Robotics and Automation Letters (RA-L), (accepted)

[45] Xin Ma, Chengzhi Song, Philip W.Y. Chiu and Zheng Li, 'Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System', IEEE Robotics and Automation Letters (RA-L), (accepted)

[44] Imran Mohsin, Kai He, Zheng Li, Ruxu Du, 'Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces', Applied Sciences (accepted)

[43] Weibing Li, Chengzhi Song, Zheng Li, 'An Accelerated Recurrent Neural Network for Visual Servo Control of a Robotic Flexible Endoscope with Joint Limit Constraint', IEEE Transactions on Industrial Electronics (accepted)

[42] Chengzhi Song, Xin Ma, Xianfeng Xia, Philip Waiyan Chiu, Charing CN Chong and Zheng Li, 'A Robotic Flexible Endoscope with Shared Autonomy: A Study of Mockup Cholecystectomy', Surgical Endoscopy (accepted)

[41] Zonggao MU, Peng Wang, Zheng Li and Wenfu Xu, 'A Biarc Method for Kinematics and Configuration Planning of Concentric Wire-Driven Manipulators', IEEE Access (accepted)

[40] Fengran Xie, Zheng Li, Yang Ding, Yong Zhong and Ruxu Du, 'An Experimental Study on the Fish Body Flapping Patterns by Using a Biomimetic Robot Fish', IEEE Robotics and Automation Letters (RA-L), (accepted)

[39] Zhiqiang Tang, Kelvin H.L. Heung, Raymond K.Y. Tong and Zheng Li, 'Model-based online learning and adaptive control for a 'human-wearable soft robot' integrated system', International Journal of Robotics Research (IJRR), (accepted)

[38] Xin Ma, Peng Wang, Minxin Ye, Philip W.Y. Chiu and Zheng Li, 'Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical Tasks', IEEE Robotics and Automation Letters (RA-L), (accepted)

[37] Truman Cheng, Weibing Li, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li, 'Visual Servo Control of a Novel Magnetic Actuated Endoscope for Uniportal Video Assisted Thoracic Surgery', IEEE Robotics and Automation Letters (RA-L), (accepted)

[36] Nicholas K.H. Fok, Philip K.C. Ma, Calvin S.H. Ng and Zheng Li, 'The Future of Thoracoscopes', Video Assisted Thoracic Surgery (VATS), 2019 (accepted) 

[35] Fengran Xie, Yong Zhong, Ruxu Du and Zheng Li, 'Central Pattern Generator (CPG) Control of a Biomimetic Robot Fish for Multimodal Swimming', Journal of Bionic Engineering, (accepted)

[34] Ivan Chi Hin Siu, Zheng Li, Calvin S. H. Ng, 'Latest technology in minimally invasive thoracic surgery', Annals of Translational medicine, pp,. 1-6, Vol. 7, No. 2, 2019

[33] Xin Ma, Chengzhi Song, Philip Waiyan Chiu and Zheng Li*, 'Autonomous Flexible Endoscope for Minimally Invasive Surgery with Enhanced Safety', IEEE Robotics and Automation Letters (RA-L), (accepted)

[32] Kelvin H.L. Heung, Alan T.H. Lau, Raymond K.Y. Tong and Zheng LI*, ‘Robotic Glove with Soft-Elastic Composite Actuators for Assisting Activities of Daily Living’, Soft Robotics (accepted)

[31] Xin Ma, Philip W.Y. Chiu and Zheng Li, 'Shape Sensing of Flexible Manipulators with Visual Occlusion based on Bezier Curve', IEEE Sensors Journal, 2018, 18(19): 8133-8142

[30] Xin Ma, Philip W.Y. Chiu and Zheng Li, 'Real-time Deformation Sensing for Flexible Manipulators with Bending and Twisting', IEEE Sensors Journal, 2018, 18 (15): 6412-6422

[29] Truman Cheng, Xue Zhang, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li, 'Design and Evaluation of a Soft-Bodied Magnetic Anchored and Guided Endoscope', Journal of Medical Robotics Research, 2018

[28] Truman Cheng, Calvin S.H. Ng and Zheng Li, 'Innovative Surgical Endoscopes in VATS', Journal of Thoracic Disease, (accepted)

[27] Zheng Li and Philip Waiyan Chiu, 'Robotic Endoscopy', Visceral Medicine, (accepted)

[26] Zerui Zhao, Calvin, S.H. Ng and Zheng Li, 'Trans-diaphragmatic Chest Surgery- Bringing owls to Athens?', the journal of thoracic and cardiovascular surgery,2018, 155 (3):1300-1301.

[25] Truman Cheng, Calvin S.H. Ng and Zheng Li, ' Innovations in Surgical Scopes- Wireless steerable endoscopes and Magnetic Cameras', Shanghai Chest, 2017, 1 (8).

[24] Zhong Yong, Zheng Li and Ruxu Du, 'Robot fish with two-DOF pectoral fins and a wire-driven caudal fin', Advanced Robotics, Oct. 2017

[23] Yuan Han and Zheng LI*, 'Workspace analysis of cable-driven continuum manipulators based on static model', Robotics and Computer-Integrated Manufacturing, 69 (2018) 240-252.

[22] Zhong Yong, Zheng Li and Ruxu Du, 'A Novel Robot Fish with Wire-driven Active Body and Compliant Tail'', IEEE/ASME Transactions on Mechatronics, Issue 99, 2017, (DOI: 10.1109/TMECH.2017.2712820)

[21] Han Yuan, Chiu Philip Waiyan and Zheng Li*, 'Shape-Reconstruction Based Force Sensing Method for Continuum Surgical Robots with Large Deformation', IEEE Robotics and Automation Letters (RA-L), 2017, 2(4):1972-1979

[20] Li Zheng, Wu Liao, Ren Hongliang and Yu Haoyong, 'Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators', Mechanism and Machine Theory, pp.148-165, vol. 107, Jan. 2017

[19] Chen Yanjie, Xu Wenjun, Li Zheng, Song Shuang, et al. 'Safety-Enhanced Motion Planning for Flexible Surgical Manipulator using Neural Dynamics', IEEE Transactions on Control Systems Technology, 2017, 25(5): 1711-1723.

[18] Zhao Zerui, Li Zheng and Calvin S.H. Ng, 'Recent Clinical Innovations in Thoracic Surgery in Hong Kong', Journal of Thoracic Disease, pp. 1-8, Vol. 3, No. 2, 2016.

[17] Li Zheng and Calvin S.H. Ng, 'Future of Uniportal VATS – Emerging Technology', Annals of Cardiothoracic surgery, pp. 127-132, Vol. 5, No. 2, 2016

[16] Li Zheng, Min Zin Oo, Varun Nalam, Vu Duc Thang, Hongliang Ren, Theodoros Kofidis and Haoyong Yu, 'Design of A Novel Flexible Endoscope - Cardioscope', ASME Journal of Mechanisms and Robotics, pp. 051014 1-9, Vol. 8, No. 5, 2016

[15] Li Zheng, Ren Hongliang, Chiu Waiyan Philip, Du Ruxu and Yu Haoyong  "A novel constrained wire-driven flexible mechanism and its kinematic analysis", Mechanisms and Machine Theory, pp.59-75, Vol. 95, Jan. 2016

[14] Song Shuang, Li Zheng, Yu Haoyong and Ren Hongliang, "Real-time Shape Sensing Method for Multi-Section Wire-Driven Flexible Robots Based on Quadratic Bezier Curves", IEEE Sensors, pp. 6326-6334, Vol. 15, No. 11, 2015

[13] Li Zheng, Philip W.Y. Chiu*, "Will the robot take over endoscopy?", Endoscopy, Vol. 47, Issue 9, Sept. 2015

[12] Song Shuang, Li Zheng, Yu Haoyong and Ren Hongliang, "Shape Reconstruction for Wire-driven Flexible Robots Based on B.ezier Curve and Electromagnetic Positioning", Mechatronics, pp. 28-35,Vol. 29, 2015 

[11] Li Zheng, Jan Feiling, Ren Hongliang, Yu Haoyong, "A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery", Engineering, pp. 73-78, Vol. 1, No. 1, 2015

[10] Song Shuang, Li Zheng, Yu Haoyong and Ren Hongliang "Electromagnetic Positioning for Tip Tracking and Shape Sensing of Multi-Section Flexible Robots", IEEE Sensors, pp. 4565-4575, No. 8, Vol. 15, 2015 

[9] Du Ruxu, Zhong Yong, Chen Xianshuai and Li Zheng, "The Kinematics simulation analysis of robot fish based on wire-driven mechanism", Journal of Jiangsu University of Science and Technology (Natural Science Edition), pp. 409-414, Vol. 28, No. 5, Oct. 2014. (in chinese)

[8] Ren H, Lim CM, Wang J, Liu W, Song S, Li Zheng, et al. "Computer Assisted Transoral Surgery with Flexible Robotics and Navigation Technologies: A review of recent progress and research challanges", Critical Reviews in Biomedical Engineering, 2014, Begel House Inc.

[7] Baofeng Liao, Li Zheng*, Du Ruxu, “Robot Fish with a Novel Biomimetic Wire-driven Flapping Propulsor”, Advanced Robotics, pp. 339-349, Issue 5, Vol. 28, 2014.

[6] Li Zheng*, Du Ruxu, “Design and Analysis of a Biomimetic Wire-Driven Multi-Section Flexible Robot”, International Journal of Advanced Robotic Systems, pp. 209-220, Vol. 10, April, 2013

[5] Li Zheng*, Du Ruxu, Zhang Yi, and Li Hua, “Robot Fish with Novel Wire-Driven Continuous Flapping Propulsor”, Applied Mechanics and Materials, pp. 510-514, Vol. 300-301, 2013

[4] Li Zheng*, Du Ruxu, “Design and implementation of a biomimetic wire-driven underactuated serpentine manipulator”, Transactions on Control and Mechanical Systems (TCMS), pp. 1-9, Vol. 1, No. 6, October, 2012

[3] 杜如虚*, 李峥, “中美制造业发展百年对比研究”, 改革与战略, pp. 161-165, Vol. 27, No. 5, 2011

[2]. 李峥, 刘强*, "中低速数控铣削参数优化技术研究及应用"，航空制造技术. pp. 64-68, No. 5, 2011

[1]. 李峥 刘强*, "基于切削噪声测试的数控加工颤振识别系统",  制造技术与机床, pp. 16-18, vol. 2, 2009

Conference

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[47] Long Qian, Chengzhi Song, Yiwei Jiang, Qi Luo, Xin Ma, Philip Waiyan Chiu, Zheng Li, Peter Kazanzides, 'FlexiVision: Teleporting the Surgeon's Eyes via Robotic Flexible Endoscope and Head-Mounted Display', IROS 2020 (accepted)

[46] Wenci Xin, Tianle Pan, Yehui Li, Philip Waiyan Chiu and Zheng Li*, 'A Novel Biomimic Soft Snail Robot Aiming for Gastrointestinal (GI) Tract Inspection', 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020), New York (accepted)

[45] Minxin Ye, Weibing Li, Danny Tatming Chan, Philip Waiyan Chiu, Zheng Li, 'A Semi-autonomous Stereotactic Brain Biopsy Robot with Enhanced Safety', ICRA 2020, (accepted)

[44] Zhiqiang Tang, Kelvin Holam Heung, Raymond Kaiyu Tong, Zheng Li, 'A Probabilistic Model-based Online Learning Optimal Control Algorithm for Soft Pneumatic Actuators', ICRA 2020, (accepted)

[43] Xin Ma, Chengzhi Song, Philip W.Y. Chiu and Zheng Li, 'Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System', ICRA 2020, (accepted)

[42] Xin Ma, Peng Wang, Minxin Ye, Philip W.Y. Chiu and Zheng Li, 'Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical Tasks', IEEE IROS 2019, (accepted)

[41] Truman Cheng, Weibing Li, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li, 'Visual Servo Control of a Novel Magnetic Actuated Endoscope for Uniportal Video Assisted Thoracic Surgery', IEEE IROS 2019, (accepted)

[40] Ho Lam HEUNG, ZhiQiang Tang, Chun Man Ho, Lok Him Tung, Zheng Li, Kai Yu Tong, 'Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance', ICORR 2019 (accepted)

[39] Zheng Li, Chengzhi Song, Xin Ma and Philip W.Y. Chiu, 'Robotic Flexible Endoscope for Minimally Invasive Surgery with Enhanced Safety', abstract to 2019 (EAES), (accepted)

[38] Zhiqiang Tang, Kelvin Holam Heung, Raymond Kaiyu Tong and Zheng Li*, 'A Novel Iterative

Learning Model Predictive Control Method for Soft Bending Actuators', 2019 International Conference on Robotics and Automation (ICRA), (accepted)

[37] Xin Ma, Chengzhi Song, Philip Waiyan Chiu and Zheng Li*, 'Autonomous Flexible Endoscope for Minimally Invasive Surgery with Enhanced Safety', 2019 International Conference on Robotics and Automation (ICRA), (accepted)

[36] Xue Zhang, Flippy Tianle Pan, Philip Waiyan Chiu and Zheng Li, "A Biomimetic Soft Robot for Inspecting Pipeline with Significant Diameter Variation", 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spain

[35] Trivoramai Jiralerspong, Ho Lam Heung, Kaiyu Tong and Zheng Li, 'A Novel Soft Robotic Glove for Daily Life Assistance', IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018, Netherlands

[34] Minxin Ye, Danny T.M. Chan, Philip W.Y. Chiu and Zheng Li, 'A Novel Cannula Brain Biopsy Device with Pressure Control', Hamlyn Symposium, 2018, London

[33] Zheng Li, Alan C.Y. Yuk and Philip W.Y. Chiu, 'Soft-tethered Endoscope for Upper GI Screening and Primary Treatment', European Association for Endoscopic Surgery and other Interventional Techniques 2018, London, May 2018

[32] Chengzhi Song, Ivan Shuenshing Mok, Philip Waiyan Chiu and Zheng Li, 'A Novel Tele-operated Flexible Manipulator Based on the da Vinci Research Kit', IEEE WCICA 2018.

[31] Jennifer Chan, Tianle Flippy Pan and Zheng Li, 'Design and Motion Control of Biomimetic Soft Crawling Robot for GI Tract Inspection', IEEE WCICA 2018

[30] Truman Cheng, Xue Zhang, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li, 'A Novel Magnetic Anchored and Steered Camera Robot for Single Port Access Surgery', ICRA 2018, Brisbane, Australia, May. 2018

[29] Truman Cheng, Sze Hang Ng, WAI, YAN Philip Chiu and LI Zheng*,' Design and Prototyping of a Soft Magnetic Anchored and Guidance Endoscope System', IROS 2017, Vancouver, Canada

[28] Cheung Truman, Ng Calvin S.H., Chiu Philip Waiyan and LI Zheng, ' Design and Evaluation of a Novel Soft MAGS Endoscope', Hamlyn Symposium on Medical Robotics, Imperial College, London, UK, Jun. 2017

[27] Heung Holam, Philip W.Y. Chiu and Zheng Li, 'Design and Prototyping of a Soft Earthworm-like Robot Targeted for GI Tract Inspection', IEEE Robio 2016, Qingdao, China

[26] Yuan Han, Li Zheng, Wang Hongmin and Song Chengzhi, 'Static Modeling and Analysis of Continuum Surgical Robots', IEEE Robio 2016, Qingdao, China

[25] Li Zheng*, Philip W.Y. Chiu and Ruxu Du, "Design and Kinematic Modeling of a Concentric Wire-driven Mechanism Targeted for Minimally Invasive Surgery", IEEE IROS 2016, Korea 

[24] Li Zheng*, Song Chengzhi and Wang Hongmin, "Design and Prototyping of a Concentric Wire-driven Manipulator", 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2016

[23]. Qi Peng*, Zhang Chunsong, Li Jianmin, Li Zheng, Dai Jiansheng and Kaspar Althoefer. A compact continuum manipulator system with enhanced steering abilities for robot-assisted surgery. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2016: 49-54.

[22] Li Zheng*, Philip W.Y. Chiu, Ruxu Du, Yu Haoyong and Ren Hongliang, "A Novel Underactuated Tendon-driven Serpentine Manipulator with Translational Passive Constraint", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28th, Sept - 02nd Oct, 2015

[21] Chen Yanjie, Li Zheng, Xu Wenjun, Wang Yaonan and Ren Hongliang*, "Minimum Sweeping Area Kinodynamic Planning for Surgical Flexible Manipulator", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28th, Sept - 02nd Oct, 2015

[20] Li Zheng, Min Zin Oo, et al. "Design of A Novel Flexible Endoscope - Cardioscope",  ASME 2015 International Design Engineering Technical Conferences and Computer & Information in Engineering Conference (IDETC/CIE 2015) at Boston, Massachusetts

[19] Lau Waipik, Zhong Yong, Li Zheng and Du Ruxu,"Bladderless Swaying Wire-Driven Robot Shark", 7th IEEE CIS-RAM, Angkor Wat, Cambodia, 15-17, July, 2015

[18] Li Zheng, Jan Feiling, Ren Hongliang and Yu Haoyong, "A Novel Tele-operated Flexible Surgical Arm with Optimal Trajectory tracking Aiming for Minimally Invasive Neurosurgery", 7th IEEE CIS-RAM, Angkor Wat, Cambodia, 15-17, July, 2015

[17] Li Zheng, Min Zin Oo, et al. "Design and Testing of A Novel Flexible Endoscope", the 11th Aisan Conference on  Computer Aided Surgery (ACCAS 2015), Engineering Auditorium, National University of Singapore, Singapore, 7, July, 2015

[16] Li Zheng, Min Zin Oo, et al. "Design of A Novel Flexible Endoscope", Hamlyn Symposium on Medical Robotics, Imperial College, London, UK, 21th, June, 2015

[15] Jan Feiling, Li Zheng, Ren Hongliang and Yu Haoyong, "The Constrained Tendon-driven Serpentine Manipulator and Its Optimal Control Using Novint Falcon", the 28th IEEE Canadian Conference on Electrical and Computer Engineering, 2015 May 3-6, Halifax, Canada,  (Best Paper Finalist and Conference Paper Award)

[14] Li Zheng, Du Ruxu, Yu Haoyong, and Ren Hogliang, "Statics Modeling of an Underactuated Wire-driven Robot Arm", IEEE BioRob 2014, Sao Paulo, Brazil

[13] Li Zheng, Yu Haoyong*, and Ren Hongliang, "A Novel Underactuated Wire-driven Flexible Robotic Arm with Controllable Bending Section Length", ICRA 2014 Workshop on Advances in Flexible Robots for Surgical Interventions, Hong Kong, May 31-June 7, 2014

[12] Li Zheng*, Du Ruxu, "Expanding Workspace of Underactuated Flexible Manipulator by Actively Deploying Constrains", 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong , May 31-June 7, 2014

[11] Li Zheng*, Du Ruxu, "A Novel Double-Hull Boat with Biomimetic Wire-Driven Flapping Propulsors", 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong , May 31-June 7, 2014 

[10] Zhong Yong, Li Zheng*, Du Ruxu, "The Design and Prototyping of a Wire-driven Robot Fish with Pectoral Fins", 2013 IEEE  International Conference on Robotics and Biomimetics (ROBIO 2013), Shenzhen, China, Dec. 12-14, 2013.

[9] Li Zheng, Ren Hongliang, and Yu Haoyong, "Statics and positioning control of an underactuated wire-driven flexible robot arm",Yu2The 15th International Conference on Biomedical Engineering (ICBME 2013), 4 – 7 December 2013, Singapore (poster)

[8] Li Zheng*, Zhong Yong, Du Ruxu, “Design and Implementation of a Novel Vector Propulsion Robot Fish”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, Nov. 3-8, 2013.

[7] Du Ruxu*, Li Zheng, “Under-Actuated Flexible Wire-Driven Mechanism and It's Application in Underwater Propulsion”, 第十届两岸四地先进制造技术研讨会，台中，台湾，2013年6月

[6] Baofeng Liao, Li Zheng*, Du Ruxu, “Robot Tadpole with a Novel Biomimetic Wire-driven Propulsor”, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Guangzhou, China, Dec. 11-14, 2012. (Best Paper Finalists)

[5] Li Zheng*, Du Ruxu, Zhang Yi, and Li Hua, “Robot Fish with Novel Wire-Driven Continuous Flapping Propulsor”, The 2nd International Conference on Mechatronics and Applied Mechanics (ICMAM), Hong Kong, Dec. 6-7, 2012

[4] Li Zheng*, Gao Wenqi, Du Ruxu, Liao Baofeng, “Design and Analysis of a Wrie-Driven Robot Tadpole”, International Mechanical Engineering Congress & Exposition (IMECE 2012), Houston, Texas, USA, Nov. 9-15, 2012.

[3] Li Zheng*, Du Ruxu, Yao Yupei, “Flying Octopus – A LTAV with Wire-Driven Flapping Wings”, International Mechanical Engineering Congress & Exposition (IMECE 2012), Houston, Texas, USA, Nov. 9-15, 2012.

[2] Li Zheng*, Du Ruxu, “Design and Analysis of a Biomimetic Wire-Driven Flapping Propeller”, IEEE International Conference on Biomedical Robotics and Biomechatronics, (BioRob2012), Roma, Italy, June 24-27, 2012.

[1] Li Zheng*, Du Ruxu, Lei Mancheong, Yuan Songmei, “Design and Analysis of A Biomimetic Wire-Driven Robot Arm”, International Mechanical Engineering Congress & Exposition (IMECE 2011), Denver, Colorado, USA, Nov. 11-17, 2011.

Patent

[13]  LI Zheng, CHIU Waiyan, WU Chuan and CHAN Cheuklai, "Instrument for Minimally Invasive Surgery" (Chinese Patent, Pending, No.201710219942.2)

[12] LI Zheng, CHIU Waiyan, WU Chuan and CHAN Cheuklai, "A Handheld Endoscope System" (Chinese Patent, Pending, No. 201710219919.3)

[11] TONG Kaiyu, LI Zheng, HEUNG Holam, JIRALERSPONG Trivoramai and WONG Choiling, "Flexibly Driven Robotic Hands"(US Patent, Pending, No. 15/488,121)

[10] Li Zheng, Calvin Sze Hang Ng, Philip Wai Yan Chiu and Joseph Jao-Yiu Sung, "Wireless Magnetically Steerable Endoscope", (US patent, Pending, No. 62/280,487)

[9] Li Zheng Yu Haoyong and Ren Hongliang, "Wire-driven Flexible Manipulator with Controllable Bending Section", (US patent, pending, No. 62/007,022)

[8] Li Zheng, Joseph Jao-Yiu Sung and Du Ruxu, "Capsule Endoscopic Device for GI Tract Inspection", (Chinese Invention Patent, pending, No. 14h10157CN)

[7]. Li Zheng, Du Ruxu, "A Cable-driven Fish-like Flapping Propelled Double-hull Boat", (Chinese Invention Patent, pending, No. 201310321827.8)

[6]. Li Zheng, Du Ruxu, “Wire-driven Flapping Propulsor with Vector Propulsion” (Chinese Utility Patent, No. 201220681106.9)

[5]. Li Zheng, Du Ruxu, “Wire-driven Flapping Propulsor with Vector Propulsion”, (Chinese Invention Patent, No. 201210532300.5)

[4]. Li Zheng, Du Ruxu, “Biomimetic Wire-driven Continuum Caudal-fin-like Under Water Propulsor”, (Chinese Invention Patent, No.201210507827.2)

[3]. Li Zheng, Du Ruxu, “Biomimetic Wire-driven Continuum Caudal-fin-like Under Water Propulsor” (Chinese Utility Patent, No. 201220654089.X)

[2]. Li Zheng, Du Ruxu, “Biomimetic Wire-driven Serpentine Caudal-fin-like Under Water Propulsor”, (Chinese Invention Patent, No. 201210307229.0)

[1]. Li Zheng, Du Ruxu, “Biomimetic Wire-driven Serpentine Caudal-fin-like Under Water Flapping Propulsor” (Chinese Utility Patent, No. 201220427116.X)

Software Copyright

[2]. Liu Qiang, Li Zheng, “Force Simulation and Parameter Optimization System in NC milling process [VC]”, Software Copyright, license number: 2009SR030423

[1]. Liu Qiang, Li Zheng, “Force Simulation and Parameter Optimization System in NC milling process [Matlab]” ,Software Copyright, license number: 2009SR030329

Google Scholar: http://scholar.google.com.sg/citations?user=XXDp6GgAAAAJ&hl=zh-CN

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