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A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
Posts
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This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
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This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
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portfolio
Short description of portfolio item number 1
Short description of portfolio item number 2
publications
Published in IEEE Conference on Telepresence, 2024
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. In this paper, we present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model.
Recommended citation:
J. Su*, K. Zuo and Z. Chua, "Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger," 2024 IEEE Conference on Telepresence, Pasadena, CA, USA, 2024, pp. 79-86.
Download Paper | Download Bibtex
Published in IEEE Robotics and Automation Letters(RA-L), 2025
Force sensing on the end effector is crucial for mobile, legged robots to adapt to varying terrain and manipulate objects in complex environments. In this paper, we demonstrate a low-cost solution to this problem that integrates four sets of strain gauges, analog-to-digital conversion, and data processing into a single leg of a crab-scale robot.
Recommended citation:
J. Zhou, J. Su, K. Zuo, M. Pan, Z. Chua and K. A. Daltorio*, "A High Load Density Miniature Force Sensor for Probing With Robot Feet," in IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 450-457, Jan. 2026.
Download Paper | Download Bibtex
Published in N/A (Under Review), 2026
The paper is currently Unde Double-blinded Review. The pdf is available upon request.
Recommended citation: K. Zuo*, S. Yang and Z. Chua, "A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers with Generalization to Unseen Objects," in TBD, Jan. 2026.
selected_projects
Advisor: Prof. Zonghe Chua, ERIE lab, CWRU, Jun 2025 - Present
Lymphedema is a chronic and progressive condition caused by dysfunction of the lymphatic system, leading to excessive fluid accumulation in soft tissues. In this project, we develop a clinically deployable desktop indenter system, termed Clindent, to noninvasively obtain in vivo creep loading curves from patient limbs, enabling longitudinal assessment of tissue mechanical properties during recovery.
Advisor: Prof. Zonghe Chua, ERIE lab, CWRU, Oct 2025 - Nov 2025
Traditional nurse training relies heavily on hands-on practice with real patients, which is constrained by clinical availability and safety considerations. In this project, we develop a VR-based encounter haptics system using a Kinova 7-DOF robotic arm to provide realistic physical interaction and force feedback for immersive nurse training.
Demonstration video: Watch Video
Advisor: Prof. Zonghe Chua, ERIE lab, CWRU, Sep 2025 - Present
In-hand manipulation plays a critical role in high-performance teleoperation and immersive, embodied virtual interactions. In this project, we embed three ATI force/torque sensors into an in-hand-sized object to capture multi-finger manipulation forces and investigate preliminary synergy-based force signal compression strategies.
talks
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teaching
Served as a grader for assignments and exams of 32 students.
PS: EMAE 350: Mechanical Engineering Analysis, EMAE 351: Control of Mechanical System
Led recitation section and office hours for a class of 75 students. Also served as a grader for exams.
Reviewed five research proposal applications.
Reviewed three conference submissions.
Coordinated and guided 24 Bay STEM Academy students through a lab tour.
Demonstrated a vision-based contact localization and force estimation system integrated with a pneumatic fingertip actuator to visiting high school students.