overview

A compact snapshot of the work collected on this page, centered on underactuated grippers, linkage design, adaptive grasping, and adjacent robotics topics.

2025 snapshot

9 papers (8 conference + 1 journal) across robotics, mechanism design, and one related materials study.

underactuated grippers · linkage design · adaptive grasping · aerial manipulation

profiles and files

For citation counts, full records, and the latest CV, use the links below.

Google Scholar / ORCID / CV

2025

conference papers

  1. An Idle-Stroke Underactuated Gripper with Independent Double-Parallelogram Linkages for Pinching and Adaptive Grasping
    Yizhe Chen, Haotong Luan, Haokai Ding, Wenzeng Zhang*
    An idle-stroke gripper whose two independent double-parallelogram linkages combine pinching with adaptive grasping.
    RAAI 2025
    doi
  2. GLINT: An Idle-Stroke Grasp-and-Lift Hand for In-Hand Manipulation
    Haokai Ding, Haotong Luan, Tao Yang*, Wenzeng Zhang*
    A grasp-and-lift hand that embeds phase switching into an idle-stroke transmission for low-burden in-hand manipulation.
    ICCMA 2025
    doi
  3. BioCrest - A Flexible Adaptive Robotic Hand Based on Idle-Stroke Mechanism
    Haokai Ding, Xianjie Zhong, Wenke Huang, Tao Yang*, Wenzeng Zhang*
    A two-finger, three-DOF adaptive hand that actively reconfigures between precision pinching and compliant grasping.
    ROBIO 2025
    doi
  4. An Underactuated Gripper with Grasshopper-Inspired Linkages and Delay Triggering for Pinching and Adaptive Grasping
    Haokai Ding†, Yizhe Chen†, Dongjun Jia, Wenzeng Zhang*
    A grasshopper-inspired linkage gripper with delay triggering for linear pinching and adaptive grasping.
    ICIA 2025
    doi
  5. A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping
    Haokai Ding, Wenzeng Zhang*
    A dual-finger gripper with Semi-Peaucellier linkages and idle-stroke transmission for linear pinching and self-adaptive grasping.
    IROS 2025 Oral
    doi
  6. Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping
    Haokai Ding, Zhaohan Chen, Tao Yang*, Wenzeng Zhang*
    The SP-Diff gripper: a differential linkage with planetary transmission for linear-parallel grasping and independent finger poses.
    CASE 2025 Oral
    doi
  7. Peaucellier Gripper: A Novel Underactuated Gripper for Linear Pinching and Self-Adaptive Grasp with the Peaucellier Linkage
    Haokai Ding, Jiaqi Fan, Zixuan Zhu, Yongzhu Zhao, Kai Chen*, Wenzeng Zhang*
    An optimized five-bar Peaucellier (OPL) gripper that eliminates link interference for linear parallel pinching.
    ICARM 2025
    doi
  8. Rapid Analysis of Heavy Metal Element Adsorption by SCG Based on LIBS Technology
    Hairui Xie, Libing You, Xiaodong Fang, Leyi Li, Haokai Ding, Zhengqi Zhou, Guanyang Zhang, Dongjian Zhang
    Rapid LIBS-based analysis of heavy-metal adsorption by spent coffee grounds.
    E3S Web Conf. 2025
    doi

journal article

  1. Recent Progress on the Research of 3D Printing in Aqueous Zinc-Ion Batteries
    Yating Liu†, Haokai Ding†, Honglin Chen, Haoxuan Gao, Jixin Yu, Funian Mo, Ning Wang*
    A review of 3D printing approaches for aqueous zinc-ion batteries.
    Polymers 17, no. 15: 2136 SCI JCR Q1
    doi