Journal Articles (* Corresponding Author)

[1] Liu J. J., Cao L.*, Miysaka M., Phee S. J., 2021, “A Frictional Contact-Pattern-Based Model for Inserting a Flexible Beam into Curved Channels”, IEEE/ASME Transactions on Mechatronics. In Press.

[2] Huang Y. P., Lai W. J., Cao L., Liu J. J., Li X. G., Etienne B., Phee S.J., 2021, “A three-limb teleoperated robotic system with foot control for flexible endoscopic surgery”, Annals of Biomedical Engineering， DOI：10.1007/s10439-021-02766-3. In Press.

[3] Lai W. J., Cao L., Liu J.J., Tjin S. C., Phee S. J. , 2021, “A Three-axial Force Sensor Based on Fiber Bragg Gratings for Surgical Robots”, IEEE/ASME Transactions on Mechatronics, DOI: 10.1109/TMECH.2021.3071437. In Press.

[4] Huang Y. P., Lai W. J., Cao L., Etienne B., Phee S.J., 2021, Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery, IEEE Robotics and Automation Letters, 6(2): 2469-2476, DOI: 10.1109/LRA.2021.3062009.

[5] Phan, P.T., Tiong, A.M.H., Miyasaka, M., Cao L.*, Kaan H. L., Khek Y. H., Phee. J., 2021, “EndoPil: A Magnetically Actuated Swallowable Capsule for Weight Management: Development and Trials”, Annals of Biomedical Engineering, 49: 1391–1401 DOI: 10.1007/s10439-020-02692-w. (IF 3.47, Q1)

[6] Huang Y. P., Eden J., Cao L.*, Etienne B.* and Phee S. J.， 2020, “Tri-manipulation: An evaluation of human performance in 3-handed teleoperation”, IEEE Transactions on Medical Robotics and Bionics, 2 (4): 545-548, DOI: 10.1109/TMRB.2020.3033137.

[7] Le H. M., Phan P. T., Cao L.*, Liu J. J., Phee S. J., 2020, “A Temperature-dependent, Variable-stiffness Endoscopic Manipulator with Active Heating and Cooling”, Annals of Biomedical Engineering, 48(6):1837-1849, DOI: 10.1007/s10439-020-02495-z.

[8] Cao L.*, Li X. G., Phan P. T., Tiong A., Kaan H. L., Liu J. J., Lai W. J., Huang Y. P., Le H. M., Miyasaka M., Ho K. Y., Chiu W. Y., Phee S. J., 2019, "Sewing up the Wounds: A Robotic Suturing System for Flexible Endoscopy," IEEE Robotics & Automation Magazine, 27(3): 45-54, DOI: 10.1109/MRA.2019.2963161.

[9] Lai W. J., Cao L.*, Tan X., Tan Y. C., Li X. G., Phan P. T., Tiong A., Tjin S. C., Phee S. J., 2019, “An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots”, Annals of Biomedical Engineering, 48: 342–356, DOI: 10.1007/s10439-019-02352-8.

[10] Lai W. J., Cao L.*, Tan X., Phan P. T, Hao J. Z., Tjin S. C., Phee S. J. , 2019, “Force Sensing with 1mm Fiber Bragg Gratings for Flexible Endoscopic Surgical Robots”, IEEE/ASME Transactions on Mechatronics, 25(1):371-382, DOI:10.1109/TMECH.2019.2951540.

[11] Huang Y. P., Etienne B.*, Cao L.*, Phan P. T., Tiong A., Phee S. J., 2019, “A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Robot Arm”, IEEE/ASME Transactions on Mechatronics, 25(2):951-963, DOI: 10.1109/TMECH.2020.2964295.

[12] Li X. G., Tiong A., Cao L.*, Lai W.J., Phan P. T., Phee S. J., 2019, “Deep learning for haptic feedback of flexible endoscopic robot without prior knowledge on sheath configuration”. International Journal of Mechanical Sciences, 163:105129, DOI: 10.1016/j.ijmecsci.2019.105129.

[13] Huang Y. P., Etienne B.*, Cao L.*, Phan P. T., Tiong A., Phee S. J., 2019, “Performance evaluation of a foot-controlled human-robot interface", IEEE Robotics and Automation Letters. 4: 3302-3309, DOI: 10.1109/LRA.2019.2926215.

[14] Li X. G., Cao L.*, Tiong A., Phan P. T., Phee S. J., 2019, “Distal-End Force Prediction of Tendon-Sheath Mechanisms for Flexible Endoscopic Surgical Robots Using Deep Learning”, Mechanism and Machine Theory, 134: 323-337, DOI: 10.1016/j.mechmachtheory.2018.12.035.

[15] Cao L., Dolovich A. T., Chen A., and Zhang W. J., 2018, "Topology optimization of efficient and strong hybrid compliant mechanisms using a mixed mesh of beams and flexure hinges with strength control", Mechanism and Machine Theory, 121: 213-227, DOI: 10.1016/j.mechmachtheory.2017.10.022.

[16] Hu X. H, Cao L., Luo Y. G., Chen A., Zhang E., Zhang W. J., 2018, “A Novel Methodology for Comprehensive Modeling of the Kinetic Behavior of Steerable Catheters”, IEEE/ASME Transactions on Mechatronics, 24(4):1785-1797, DOI: 10.1109/TMECH.2019.2928786.

[17] Le H. M., Cao L.*, DO T. N., Phee S. J., 2018, “Design and modeling of a variable stiffness manipulator for surgical robots”, Mechatronics. 53: 109-123, DOI: 10.1016/j.mechatronics.2018.05.012.

[18] Cao L., Dolovich A. T., and Zhang W. J., 2015, “Hybrid Compliant Mechanism Design Using a Mixed Mesh of Flexure Hinge Elements and Beam Elements through Topology Optimization”, ASME Journal of Mechanical Design, 137(9): 092303, doi:10.1115/1.4030990.

[19] Cao L., Dolovich A. T., Schwab A. L., Herder J. L., and Zhang W. J., 2015, “Towards a Unified Design Approach for both Compliant Mechanisms and Rigid-Body Mechanisms: Module Optimization”, ASME Journal of Mechanical Design, 137(12): 122301, DOI: 10.1115/1.4031294. “Featured Article” (http://www.asmejmd.org/featured-articles).

[20] Cao L., Dolovich A. T., and Zhang W. J., 2013, "On Understanding of Design Problem Formulation for Compliant Mechanisms through Topology Optimization", Mechanical Sciences, 4(2): 357-369, DOI: 10.5194/ms-4-357-2013.

[21] Liu W. T., Li X. Q., Sun Z. H., Cao L., Zhang W. J., 2013, “Shaking Force Balancing and Stress Constraint for Compliant Mechanisms Design through Topology Optimization”, Journal of Donghua University (Natural Science), 39(6):790-796. DOI:10.3969/j.issn.1671-0444.2013.06.017.

Patents

[1] Cao L., Phan P. T., and Phee S. J. L., "A Through-The-Scope Multi-Degrees-Of Freedom Suturing End-Effector For Endoscopic Defect Closure," Singapore Patent 10201710343U, 2017. PCT patent filed: PCT/SG2018/050606.

[2] Lai W. J., Cao L., Phee S. J., Force Sensor For Tendon-Actuated Mechanisms. PCT patent filed: PCT/SG2019/050271.

[3] Lai W. J., Cao L., Phee S. J., A Multiaxial Force Sensor For End-Effectors, Singapore Povisional Patent (10202102580X). 13 March 2021.

Conference Proceedings (* Corresponding author)

[1] Lai W. J., Cao L.*, Phan P. T., Wu I. W., Tjin S. C., Phee S. J., “Joint Rotation Angle Sensing of Flexible Endoscopic Surgical Robots”, 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.

[2] Cao L.*, Li X. G., Phan P. T., Tiong A., Phee S. J., 2019, " A Flexible Endoscopic Robotic Suturing System for Gastrointestinal Perforations: Animal Study”. Hamlyn Symposium on Medical Robotics, London, UK.

[3] Cao L.*, Li X. G., Phan P. T., Tiong A., Liu J. J., Phee S. J., 2019, "A Novel Robotic Suturing System for Flexible Endoscopic Surgery", 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada.

[4] Miyasaka M., Liu J. J., Cao L., Phee S. J., 2019, "Pneumatically Actuated Deployable Tissue Distension Device for NOTES for Colon", 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada.

[5] Cao L., Kaan H. L., Li X. G., Phan P. T., Toing A., Kaan H. L., Ho K. Y., Chiu P., Phee S. J., “Endoscopic Suturing using a Computer-Controlled Master and Slave Robot: Animal Study”, 27^TH Annual Congress of the EAES (European Association for Endoscopic Surgery), Sevilla, Spain. Best Presentation Award.

[6] Lai W. J., Cao L.*, Xu Z. L., Phan P. T., Shum P., Phee S. J., “Distal End Force Sensing with Optical Fiber Bragg Grating Sensors for Tendon-Sheath Mechanisms in Flexible Endoscopic Robots”, 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.

[7] Chen A., Yin R., Cao L., Yuan C., Ding H. K. and Zhang W. J., "Soft robotics: Definition and research issues," 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Auckland, 2017, pp. 366-370. doi: 10.1109/M2VIP.2017.8267170.

[8] Le H. M.; DO T. N, Cao L.*, Phee S. J., 2017, “Towards Active Variable Stiffness Manipulators for Surgical Robots”, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, pp. 1766-1771. doi.10.1109/ICRA.2017.7989209.

[9] Cao L. and Zhang W. J., "Integrated Design of Compliant Mechanisms and Embedded Rotary Actuators and Bending Actuators for Motion Generation", ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 40th Mechanisms and Robotics Conference:V05AT07A001. doi:10.1115/DETC2016-59012.

[10] Zheng Y., Cao L., Zhang W. J., "Topology optimization of a fully compliant prosthetic finger: Design and testing," 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pp. 1029-1034. doi: 10.1109/BIOROB.2016.7523766

[11] Cao L., Zhang W. J., and Dolovich A. T., “Hybrid Compliant Mechanism Design through Topology Optimization”, 2014, CSME International Congress, Jun. 1-4, Toronto

[12] Wang Q. Z., Li J., Liu Y. F., Qian Z. Q., Cao L., Zhang W. J., "A systematic and rational design approach for compliant amplification mechanisms," 2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA), Auckland, 2015, pp. 74-78. doi: 10.1109/ICIEA.2015.7334087