[P31] Apr. 08, 2022, Expandable interactive flexible robotic skin (拡張可能な相互作用型フレキシブルロボット皮膚), Japan National Invention Patent, Application No. 2022064209, Publication No. JP2022176885A1, Applicants: ZJU, Inventors: Geng Yang, Baicun Wang, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P30] Nov. 21, 2025, Temperature-pressure self-decoupling flexible sensor based on microstructure ion material (基于微结构离子材料的温度-压力自解耦柔性传感器), China National Invention Patent, Application No. 202210818404.6, Publication No. CN115371830B, Inventors: Geng Yang, Renke Wu, Gaoyang Pang, Zhiqiu Ye, Haiteng Wu, and Huayong Yang.
[P29] Mar. 07, 2025, An ionic material-based temperature-pressure self-decoupling multi-modal flexible sensor (一种基于离子材料的温度-压力自解耦多模态柔性传感器), China National Invention Patent, Application No. 202210819511.0, Grant No. CN115371831B, Inventors: Geng Yang, Renke Wu, Gaoyang Pang, Haiteng Wu, and Huayong Yang.
[P28] Dec. 19, 2023, Multi-modal expandable interactive flexible robot skin (一种多模态可拓展的交互式柔性机器人皮肤), China National Invention Patent, Application No. 202210095297.9, Grant No. CN114347063B, Applicants: ZJU, Inventors: Geng Yang, Chen Li, Gaoyang Pang, Zeyang Hou, Kaichen Xu, and Huayong Yang.
[P27] Dec. 05, 2023, Wearable human body posture data feedback equipment based on flexible tensile strain sensor (基于柔性拉伸应变传感器的可穿戴式人体姿态数据反馈设备), China National Invention Patent, Application No. 202210093743.2, Grant No. CN114489340B, Applicants: ZJU, Inventors: Geng Yang, Renke Wu, Yihao Liang, Gaoyang Pang, Kaichen Xu, and Huayong Yang.
[P26] Oct. 31, 2023, An intelligent pressure sensor based on a porous material (一种基于多孔材料的智能压力传感器), China National Invention Patent, Application No. 202210556045.1, Grant No. CN114923607B, Applicants: ZJU, Inventors: Geng Yang, Depeng Kong, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P25] Aug. 15, 2023, Four-foot crawling pneumatic soft robot capable of detecting bending state (一种可检测弯曲状态的四足爬行气动软体机器人), China National Invention Patent, Application No. 202210093784.1, Grant No. CN114378805B, Applicants: ZJU, Inventors: Geng Yang, Yizhen Zou, Yihao Liang, Gaoyang Pang, Kaichen Xu, and Huayong Yang.
[P24] Jul. 07, 2023, Expandable and reconfigurable multi-level sensing flexible robot skin (一种可拓展可重构的多级感知柔性机器人皮肤), China National Invention Patent, Application No. 202210093770.X, Grant No. CN114536355B, Applicants: ZJU, Inventors: Geng Yang, Chen Li, Gaoyang Pang, Zeyang Hou, Kaichen Xu, and Huayong Yang.
[P23] Jul. 07, 2023, Robot bionic flexible electronic skin with controllable global rigidity (一种全局刚度可控的机器人仿生柔性电子皮肤), China National Invention Patent, Application No. 202210095299.8, Grant No. CN114459642B, Applicants: ZJU, Inventors: Geng Yang, Yihui Jian, Zhiqiu Ye, Gaoyang Pang, Kaichen Xu, and Huayong Yang.
[P22] Mar. 28, 2023, Tensile strain sensor based on porous flexible material (一种基于多孔柔性材料的拉伸应变传感器), China National Invention Patent, Application No. 202210095289.4, Grant No. CN114459333B, Applicants: ZJU, Inventors: Geng Yang, Zhiqiu Ye, Yihao Liang, Gaoyang Pang, Kaichen Xu, and Huayong Yang.
[P21] Mar. 28, 2023, Extensible and reconfigurable interactive flexible robot skin (一种可扩展且可重构的交互式柔性机器人皮肤), China National Invention Patent, Application No. 202110534935.8, Grant No. CN113103258B, Applicants: ZJU, Inventors: Geng Yang, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P20] Jan. 10, 2023, Flexible tensile strain sensor (一种柔性拉伸应变传感器), China National Invention Patent, Application No. 202210095270.X, Grant No. CN114440760B, Applicants: ZJU, Inventors: Geng Yang, Yihao Liang, Gaoyang Pang, Zhiqiu Ye, Kaichen Xu, and Huayong Yang.
[P19] Jan. 10, 2023, Flexible tensile strain sensor based on packaging material structure (一种基于封装材料结构的柔性拉伸应变传感器), China National Invention Patent, Application No. 202210093766.3, Grant No. CN114440759B, Applicants: ZJU, Inventors: Geng Yang, Zhiqiu Ye, Yihao Liang, Gaoyang Pang, Kaichen Xu, and Huayong Yang.
[P18] Dec. 2, 2022, Bionic light-emitting interactive flexible robot skin (一种仿生发光交互柔性机器人皮肤), China National Invention Patent, Application No. 202110533970.8, Grant No. CN113263512B, Applicants: ZJU, Inventors: Geng Yang, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P17] Sep. 16, 2022, Extensible and globally independently reconfigurable interactive flexible robot skin (一种可扩展且全局可独立重构的交互式柔性机器人皮肤), China National Invention Patent, Application No. 202110534950.2, Grant No. CN113252084B, Applicants: ZJU, Inventors: Geng Yang, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P16] Aug. 30, 2022, Extensible interactive flexible robot skin (一种可扩展的交互式柔性机器人皮肤), China National Invention Patent, Application No. 202110534968.2, Grant No. CN113103259B, Applicants: ZJU, Inventors: Geng Yang, Zeyang Hou, Gaoyang Pang, and Huayong Yang.
[P15] May 27, 2022, Full-printing bionic super-sensing flexible robot skin (一种全打印仿生超感知柔性机器人皮肤), China National Invention Patent, Application No. 202110533975.0, Grant No. CN113386158B, Applicants: ZJU, Inventors: Geng Yang, Huayu Luo, Gaoyang Pang, and Huayong Yang.
[P14] Aug. 3, 2021, Reconfigurable flexible sensing device based on porous structure (一种基于多孔结构的可更换式柔性传感装置), China National Invention Patent, Application No. 201910316589.9, Grant No. CN110132461B, Applicants: ZJU, Inventors: Geng Yang, Wenzheng Heng, Gaoyang Pang, and Huayong Yang.
[P13] May 28, 2021, Highly stretchable and flexible strain sensor based on porous material (一种基于多孔柔性材料的高拉伸柔性应变传感器), China National Invention Patent, Application No. 201910614416.5, Grant No. CN110375636B, Applicants: ZJU, Inventors: Geng Yang, Zhen Wang, Gaoyang Pang, Yue Wu, Bin Wang, and Huayong Yang.
[P12] Nov. 10, 2020, Single-phase power supply array type dual-phase electrical stimulation feedback system (一种单相电源阵列式双相电刺激反馈系统), China National Invention Patent, Application No. 201810534629.2, Grant No. CN108671396B, Applicants: ZJU, Inventors: Geng Yang, Liu Yang, Gaoyang Pang, Hao Zhang, and Huayong Yang.
[P11] Nov. 6, 2020, Porous-structure-based an island bridge type flexible sensing array device (一种基于多孔结构的岛桥式柔性传感阵列装置), China National Invention Patent, Application No. 201910316546.0, Grant No. CN110196125B, Applicants: ZJU, Inventors: Geng Yang, Gaoyang Pang, Wenzheng Heng, and Huayong Yang.
[P10] Nov. 6, 2020, Porous structure-based flexible sensitive pressure sensing device (一种基于多孔结构的柔性敏感压力传感装置), China National Invention Patent, Application No. 201910316547.5, Grant No. CN110132460B, Applicants: ZJU, Inventors: Geng Yang, Gaoyang Pang, Wenzheng Heng, and Huayong Yang.
[P9] Nov. 6, 2020, Remote control trolley with adaptive lighting function (一种具有自适应照明功能的可遥控小车), China National Invention Patent, Application No. 201910614763.8, Grant No. CN110377035B, Applicants: ZJU, Inventors: Geng Yang, Menghua Xie, Shuai Cheng, Xinyu Fei, Gaoyang Pang, and Huayong Yang.
[P8] Nov. 3, 2020, Same-layer multi-level array pressure sensor (一种同层式的多级阵列压力传感器), China National Invention Patent, Application No. 201810129054.6, Grant No. CN108444620B, Applicants: ZJU, Inventors: Geng Yang, Gaoyang Pang, Feihong Xu, and Huayong Yang.
[P7] Sep. 1, 2020, Sensing device for safe human-robot interaction (一种用于人与机器人安全交互的传感装置), China National Invention Patent, Application No. 201710786413.0, Grant No. CN107765686B, Applicants: ZJU, Inventors: Geng Yang, Gaoyang Pang, and Qingquan Lin.
[P6] Aug. 4, 2020, Carrying type two-arm omni-directional moving nursing robot (一种可乘载式双臂全向移动护理机器人), China National Invention Patent, Application No. 201810534638.1, Grant No. CN108705512B, Applicants: ZJU, Inventors: Geng Yang, Honghao Lv, Gaoyang Pang, and Huayong Yang.
[P5] Jul. 24, 2020, Discrete threshold type plantar pressure sensing device (一种离散阈值式足底压力传感装置), China National Invention Patent, Application No. 201810129095.5, Grant No. CN108433734B, Applicants: ZJU, Inventors: Geng Yang, Feihong Xu, Gaoyang Pang, and Huayong Yang.
[P4] Jun. 30, 2020, Variable stiffness sensing array based on porous material (一种基于柔性多孔材料的可变刚度传感阵列), China National Invention Patent, Application No. 201910614808.1, Grant No. CN110388998B, Applicants: ZJU, Inventors: Geng Yang, Wenzheng Heng, Gaoyang Pang, and Huayong Yang.
[P3] May 12, 2020, Angle adjustable type bionic hair sensing structure (一种角度可调型仿生毛发传感结构), China National Invention Patent, Application No. 201810532743.1, Grant No. CN108760105B, Applicants: ZJU, Inventors: Geng Yang, Fangjinhua Wang, Gaoyang Pang, and Huayong Yang.
[P2] Jan. 10, 2020, Digital bionic hair sensing structure (一种数字式仿生毛发传感结构), China National Invention Patent, Application No. 201810129603.X, Grant No. CN108444617B, Applicants: ZJU, Inventors: Geng Yang, Fangjinhua Wang, Gaoyang Pang, and Huayong Yang.
[P1] Aug. 28, 2018, Carton folding and packaging device (一种纸箱折叠封装装置), China National Invention Patent, Application No. 201610894840.6, Grant No. CN106240866B, Applicants: HNU, Inventors: Simeng Zhu, Jiangnan Liu, Gaoyang Pang, Bingyao Li, Xiaoyan Peng, Tianyun Luo, Zhicheng Yang, and Suzhen Wu.