机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Luo, Yongsong
[1
]
Chen, Xiaoliang
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Xi An Jiao Tong Univ, Frontier Inst Sci & Technol FIST, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Chen, Xiaoliang
[1
,2
]
Tian, Hongmiao
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Tian, Hongmiao
[1
]
Li, Xiangming
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Li, Xiangming
[1
]
Lu, Yangtianyu
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Lu, Yangtianyu
[1
]
Liu, Yang
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Liu, Yang
[1
]
Shao, Jinyou
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Xi An Jiao Tong Univ, Frontier Inst Sci & Technol FIST, Xian 710049, Peoples R ChinaXi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
Shao, Jinyou
[1
,2
]
机构:
[1] Xi An Jiao Tong Univ, Micro & Nanotechnol Res Ctr, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
[2] Xi An Jiao Tong Univ, Frontier Inst Sci & Technol FIST, Xian 710049, Peoples R China
Highly sensitive flexible pressure sensors play an important role to ensure the safety and friendliness during the human-robot interaction process. Microengineering the active layer has been shown to improve performance of pressure sensors. However, the current structural strategy almost relying on axial compression deformation suffers structural stiffening, and together with the limited area growth efficiency of conformal interface, essentially limiting the maximum sensitivity. Here, inspired by the interface contact behavior of gecko's feet, we design a slant hierarchical microstructure to act as an electrode contacting with an ionic gel layer, fundamentally eliminating the pressure resistance and maximizing functional interface expansion to achieving ultrasensitive sensitivity. Such a structuring strategy dramatically improves the relative capacitance change both in the low- and high-pressure region, thereby boosting the sensitivity up to 36000 kPa(-1) and effective measurement range up to 300 kPa. To verify the advantages of high sensitivity, the sensor is integrated with a soft magnetic robot to demonstrate a biomimetic Venus flytrap. The ability to perceive weak stimuli allows the sensor to be used as a sensory and feedback window, realizing the capture of small live insects and the transportation of fragile objects.
机构:
Univ Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Amit, Moran
Chukoskie, Leanne
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Qualcomm Inst, Res Autism & Dev Lab, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Chukoskie, Leanne
Skalsky, Andrew J.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Orthoped Surg, La Jolla, CA 92093 USA
Rady Childrens Hosp, San Diego, CA 92123 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Skalsky, Andrew J.
Garudadri, Harinath
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Qualcomm Inst, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Garudadri, Harinath
Ng, Tse Nga
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Boutry, Clementine M.
Kaizawa, Yukitoshi
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Kaizawa, Yukitoshi
Schroeder, Bob C.
论文数: 0引用数: 0
h-index: 0
机构:
UCL, Dept Chem, London, EnglandStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Schroeder, Bob C.
Chortos, Alex
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Chortos, Alex
Legrand, Anais
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Legrand, Anais
Wang, Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Wang, Zhen
Chang, James
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Chang, James
Fox, Paige
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Fox, Paige
Bao, Zhenan
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
机构:
Beijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Chen, Wei
Liu, Liu-Xin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Liu, Liu-Xin
Zhang, Hao-Bin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Zhang, Hao-Bin
Yu, Zhong-Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
机构:
Beijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Chen, Wei
Liu, Liu-Xin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Liu, Liu-Xin
Zhang, Hao-Bin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Zhang, Hao-Bin
Yu, Zhong-Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Chen, Xiaoliang
Li, Xiangming
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Li, Xiangming
Shao, Jinyou
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Shao, Jinyou
An, Ningli
论文数: 0引用数: 0
h-index: 0
机构:
Xian Univ Technol, Coll Printing & Packaging Engn, Xian 710048, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
An, Ningli
Tian, Hongmiao
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Tian, Hongmiao
Wang, Chao
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Wang, Chao
Han, Tianyi
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Han, Tianyi
Wang, Li
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Wang, Li
Lu, Bingheng
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
机构:
Univ Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Amit, Moran
Chukoskie, Leanne
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Qualcomm Inst, Res Autism & Dev Lab, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Chukoskie, Leanne
Skalsky, Andrew J.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Orthoped Surg, La Jolla, CA 92093 USA
Rady Childrens Hosp, San Diego, CA 92123 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Skalsky, Andrew J.
Garudadri, Harinath
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Qualcomm Inst, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
Garudadri, Harinath
Ng, Tse Nga
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USAUniv Calif San Diego, Dept Elect & Comp Engn, La Jolla, CA 92093 USA
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Boutry, Clementine M.
Kaizawa, Yukitoshi
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Kaizawa, Yukitoshi
Schroeder, Bob C.
论文数: 0引用数: 0
h-index: 0
机构:
UCL, Dept Chem, London, EnglandStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Schroeder, Bob C.
Chortos, Alex
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Chortos, Alex
Legrand, Anais
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Legrand, Anais
Wang, Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Wang, Zhen
Chang, James
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Chang, James
Fox, Paige
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Med Ctr, Div Plast & Reconstruct Surg, Vet Affairs Palo Alto, Palo Alto, CA 94304 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
Fox, Paige
Bao, Zhenan
论文数: 0引用数: 0
h-index: 0
机构:
Stanford Univ, Dept Chem Engn, Stanford, CA 94305 USAStanford Univ, Dept Chem Engn, Stanford, CA 94305 USA
机构:
Beijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Chen, Wei
Liu, Liu-Xin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Liu, Liu-Xin
Zhang, Hao-Bin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
Zhang, Hao-Bin
Yu, Zhong-Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, State Key Lab Organ Inorgan Composites, Coll Mat Sci & Engn, Beijing 100029, Peoples R China
机构:
Beijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Chen, Wei
Liu, Liu-Xin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Liu, Liu-Xin
Zhang, Hao-Bin
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
Zhang, Hao-Bin
Yu, Zhong-Zhen
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Chem Technol, Beijing Key Lab Adv Funct Polymer Composites, Beijing 100029, Peoples R ChinaBeijing Univ Chem Technol, Coll Mat Sci & Engn, State Key Lab Organ Inorgan Composites, Beijing 100029, Peoples R China
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Chen, Xiaoliang
Li, Xiangming
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Li, Xiangming
Shao, Jinyou
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Shao, Jinyou
An, Ningli
论文数: 0引用数: 0
h-index: 0
机构:
Xian Univ Technol, Coll Printing & Packaging Engn, Xian 710048, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
An, Ningli
Tian, Hongmiao
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Tian, Hongmiao
Wang, Chao
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Wang, Chao
Han, Tianyi
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Han, Tianyi
Wang, Li
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China
Wang, Li
Lu, Bingheng
论文数: 0引用数: 0
h-index: 0
机构:
Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R ChinaXi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Shaanxi, Peoples R China