Selected Publications

Journal Articles

• 1. Harith Sandeepa Gallage, Nazia Hasan Dana, Ismail Ashiru Auta, and Ronghuai Qi, "Towards Design and Development of a Robotic Transcatheter Delivery System for Aortic Valve Replacement," IEEE Robotics and Automation Letters, Under Revision.

  2. Ronghuai Qi*, Nidhi Malhotra*, Timothy A. Brumfiel, Kimberly Hoang, and Jaydev P. Desai, "Development of a single port dual arm robotically steerable endoscope for neurosurgical applications,'' Nature - npj Robotics, vol. 3, no. 1, p.1, Jan. 2025, doi: 10.1038/s44182-024-00017-w. *Co-first author

  3. Ronghuai Qi, Ismail Ashiru Auta, Nazia Hasan Dana, Harith Sandeepa Gallage, Amir Khajepour, and William W. Melek, “Modeling and Control of a Generic Hybrid Cable-Driven Robot,” Journal of Mechanisms and Robotics, Under Review (Preprint Version: https://arxiv.org/pdf/1911.06222).

  4. Timothy A. Brumfiel, Ronghuai Qi, Sharan Ravigopal, and Jaydev P. Desai, “Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot,” IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 1, pp. 153-162, Feb. 2024, doi: 10.1109/TMRB.2024.3349598.

  5. Kent K. Yamamoto*, Timothy A. Brumfiel*, Ronghuai Qi*, Joshua J. Chern, and Jaydev P. Desai, "Preclinical Evaluation of a Novel Steerable Robotic Neuroendoscope Tool," Operative Neurosurgery, Nov. 3, 2023, doi: 10.1227/ons.0000000000000976. *Co-first author

  6. Ronghuai Qi*, Namrata U. Nayar*, and Jaydev P. Desai, “Compact Design and Task Space Control of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 4, pp. 867-878, Nov. 2023, doi: 10.1109/TMRB.2023.3310039. *Co-first author

  7. Ronghuai Qi, Namrata U. Nayar, and Jaydev P. Desai, “Telerobotically Controlled Transcatheter Delivery System for Mitral Valve Implant,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3629-3636, 2023. PDF Video

  8. Timothy A. Brumfiel, Ronghuai Qi, Coley Chapman, Asif Rashid, Shreyes N. Melkote, Joshua J. Chern, and Jaydev P. Desai, “Small Scale Robotic Tooling for Use in Flexible Robotic Endoscopic Tools,” IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 4, pp. 1105-1109, Nov. 2023, doi: 10.1109/TMRB.2023.3315476.

  9. Namrata U. Nayar*, Ronghuai Qi*, and Jaydev P. Desai, “Toward the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 4, pp. 922–934, 2022. PDF *Co-first author

  10. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots,” IEEE Transactions on Systems, Man and Cybernetics: Systems, doi: 10.1109/TSMC.2021.3091653. PDF

  11. Ronghuai Qi, Hamed Jamshidianfar, and Amir Khajepour, “Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots Through Auxiliary Fixed Pulleys,” arXiv

  12. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Modeling, Vibration Control, and Trajectory Tracking of a Kinematically Constrained Planar Hybrid Cable-Driven Parallel Robot,” arXiv

  13. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Generalized Flexible Hybrid Cable-Driven Parallel Robot: Modeling, Control, and Analysis,” IEEE Transactions on Systems, Man and Cybernetics: Systems, Under Review.  arXiv

  14. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Modeling, Tracking, Vibration and Balance Control of an Underactuated Mobile Manipulator (UMM),” Control Engineering Practice, vol. 93, pp. 104159, 2019.  PDF  Video

  15. Ronghuai Qi, Mitchell Rushton, Amir Khajepour, and William W. Melek, “Decoupled Modeling and Model Predictive Control of a Hybrid Cable-Driven Robot,” Robotics and Autonomous Systems, vol. 118, pp. 1–12, 2019.  PDF  Video 1  Video 2

  16. Ronghuai Qi, Amir Khajepour, William W. Melek, et al., “Design, Kinematics, and Control of a Multijoint Soft Inflatable Arm for Human-Safe Interaction,” IEEE Transactions on Robotics, vol. 33, no. 3, pp. 594–609, 2017.  PDF  Video 1  Video 2

Conference Proceedings

• 1. Nazia Hasan Dana, Harith Sandeepa Gallage, Ismail Ashiru Auta, Dhanvi Yuvaraj, and Ronghuai Qi, “Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery, ” in 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted.

  2. Harith S. Gallage, Bailey F. De Sousa, Benjamin I. Chesnik, Chaikel G. Brownstein, Anson Paul, Ronghuai Qi, “Design and Development of a Robotic Transcatheter Delivery System for Aortic Valve Replacement,” in 2025 International Conference on Robotics and Automation (ICRA) Workshop on Robot-Assisted Endovascular Interventions, Atlanta, 2025, USA, doi: 10.48550/ARXIV.2506.12082.

  3. Nidhi Malhotra, Ronghuai Qi, Timothy A. Brumfiel, Kimberly Hoang, and Jaydev P. Desai, “Development of a single port dual arm robotically steerable endoscope,” in 2025 International Conference on Robotics and Automation (ICRA) Workshop on Ubiquitous Medical Robotics: Lessons Learned, Vision Beyond, Atlanta, 2025, USA. (Best Poster Award)

  4. Amir Khajepour, Sergio Torres Mendez, Mitchell Rushton, Hamed Jamshidianfar, Ronghuai Qi, Alireza Pazooki, Laaleh Durali, and Amir Soltani, “A Warehousing Robot: From Concept to Reality,” In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_32 (Best Application Paper)

  5. Namrata U. Nayar, Ronghuai Qi, and Jaydev P. Desai, “Modeling of a Robotic Transcatheter Delivery System,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 4675-4681, doi: 10.1109/ICRA48891.2023.10161486

  6. Patrick Lis, Achraj Sarma, Grace Trimpe, Timothy Brumfiel, Ronghuai Qi, and Jaydev P. Desai, “Design and Modeling of a Compact Advancement Mechanism for the COAST Guidewire Robot,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 1176–1182

  7. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Design and Implementation of a Low–Cost and Lightweight Inflatable Robot Finger,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, Sep. 14–18, 2014, pp. 28–33.  PDF  Video

  8. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Mechanical Design and Implementation of a Soft Inflatable Robot Arm for Safe Human–Robot Interaction,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31–June 7, 2014, pp. 3490–3495.  PDF 

  9. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Kinematic Modeling and Control of a Multi–joint Soft Inflatable Robot Arm with Cable–Driven Mechanism,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31–June 7, 2014, pp. 4819–4824.  PDF

  10. Ronghuai Qi, Tin Lun Lam, Huihuan Qian, and Yangsheng Xu, “A Novel Precise Pick and Place Device for Robotic Manipulators,” in Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, Dec. 12–14, 2013, pp. 1858-1863.  PDF  Video

  11. Ronghuai Qi, Tin Lun Lam, Huihuan Qian, and Yangsheng Xu, “Arc Tracking on an Eight-Axis Robot System,” in Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket Island, Thailand, Dec. 7–11, 2011, pp. 678–683.  PDF  Video 1  Video 2

  12. Ronghuai Qi, Huihuan Qian, Tin Lun Lam, Yangsheng Xu, et al, “A New Cartesian Cutting Robot with Laser Height Control System,” in Proc. IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, Aug. 7–10, 2011, pp. 2153-2158.  PDF  Video

  13. Ronghuai Qi, Guichi Hu, Kai Jiang, and Tao Mei, “A New Vehicle Intelligent Navigation Alarm System Based on SB5227 Microprocessor,” in Proc. International Conference on Information Acquisition (ICIA), Jeju, Korea, July 9–11, 2007, pp. 408-414.  PDF

Patents

• 1. Jaydev P. Desai, Ronghuai Qi, Nidhi Malhotra, and Kimberly Hoang, "Systems and Methods for Teleoperated Control of a Multi-Arm Robotic System," International (PCT) Patent, Application NO. PCT/US2025/038613, 2025.

  2. Jaydev P. Desai, Ronghuai Qi, Nidhi Malhotra, and Kimberly Hoang, "Systems and Methods for Teleoperated Control of a Robotic Endoscopic System," U.S. Provisional Patent, Application NO. 63/674,030, 2024.

  3. Jing Mao, Ronghuai Qi, Feng Shen, et al., “A robot charger,” CN Patent, NO. 201530367461.8, 2015.

  4. Jing Mao, Ronghuai Qi, Feng Shen, et al., “A telepresence robot,” CN Patent, NO. 201530154797, 2015.

  5. Ronghuai Qi, Tin Lun Lam, “A soft inflatable robot finger,” CN Patent, NO. 201410465035.2, 2014.

  6. Xuebin Zhao, Tin Lun Lam, Wing Kwong Chong, Ronghuai Qi, “Telepresence robot ,” CN Patent, NO. 201430040883, 2014.

  7. Ronghuai Qi, Yong Yang, Wentao Tai, Huihuan Qian, Tin Lun Lam, Bufu Huang, Yangsheng Xu, “Patrol robot ,” CN Patent, NO. 201430045630, 2014.

  8. Ronghuai Qi, Yong Yang, Wentao Tai, Huihuan Qian, Tin Lun Lam, Bufu Huang, Yangsheng Xu, “A patrol robot ,” CN Patent, NO. 201420004330, 2014.

  9. Ronghuai Qi, Tin Lun Lam, “A measurement device for soft joint,” CN Patent, NO. 201310381755, 2013.

  10. Ronghuai Qi, Tin Lun Lam, “A driven device for 12 DOF robot arm,” CN Patent, NO. 201320829640, 2013.

  11. Ronghuai Qi, Tin Lun Lam, “A soft inflatable arm,” CN Patent, NO. 201330399901, 2013.

  12. Yangsheng Xu, Yuandong Sun, Tin Lun Lam, Huihuan Qian, Maxwell Chow, Hoi Wut Ip , Kai Wing Hou, Wing Kwong Chong, Ronghuai Qi, “Absolute Encoders for Determining Absolute Position and Methods Thereof,” U.S. provisional patent, 61/587,834, 2012.

  13. Ronghuai Qi, Zukui Guo, Wei Zu, and Chuangen Zhang, “A cutting robot control system and approaches based on OPC,” CN Patent, NO. 201010159200.3, 2010.

  14. Ronghuai Qi, Wei Zu, Zukui Guo, and Jie Zhuang, “A double-drive device and its control approaches,” CN Patent, NO. 201010128644.0, 2010.

  15. Ronghuai Qi, Wei Zu, and Zukui Guo, “The methods of deviation compensation on an arc tracking robot,” CN Patent, NO. 201010128611.6, 2010.

  16. Ronghuai Qi, Wei Zu, Zukui Guo, Kun Zhang, Wei Liu, and Chuangen Zhang, “A three-torch  ame device and its trace planning algorithms for a cutting machine,” CN Patent, NO. 201010128654.4, 2010.

  17. Ronghuai Qi, Li Liu, Yanxing Ma, Wen Wang, Fei Hang, Zhenfei Wei, et al, “A dissolved oxygen transmitter device,” CN Patent, NO. 200620079170.4, 2006.

  18. Ronghuai Qi, Fan Li, Jie Wang, Yanfei Shen, Lihong Lu, Yafei Huang, et al, “A signal generator based on 4-DOF acceleration and angular velocity for vehicle navigation,” CN Patent, NO. 200510096078.9, 2005.

  19. Ronghuai Qi, Guoyang Liu, Yongjie Wei, Honggang Wang, Lang Cai, Ping Zhang, et al, “A high-voltage electrostatic scale eliminated device,” CN Patent, NO. 200520078672.0, 2005.

  20. Ronghuai Qi, Liang Li, Dongliang Wang, and Xinrong Huang, “An electromagnetic energy-saving switch,” CN Patent, NO. 200420086001.4, 2004.

  21. Haiyan Cao, Ronghuai Qi, Yafei Huang, and Lijun Wan, “A removable aquaculture gloves,” CN Patent, NO. 200420085973.1, 2004.