Director

Ping-Lang Yen Ph.D.

Professor - Department of Biomechatronics Engineering, National Taiwan University

  • Office: Dept. of Biomechantronics Engeering office 310

  • Phone: (02) 33665344

  • E-mail: plyen@ntu.edu.tw

    • Work Experience

  • Associate Professor / Assistant Professor - Department of Biomechatronics Engineering, National Taiwan University

  • Associate Professor / Assistant Professor - Automation Technology, National Taipei University of Technology Inst.

  • Project Specialist - Optical Storage Dept, Acer Peripherals, Inc.


    • Education

  • Ph.D., Mechanical Engineering Department, Imperial College, London.


    • Speciality

  • Medical Robotics (Surgical Robot)

  • Breast Cancer Diagnostic Device

  • Agricultural Robot

    • Discipline

  • Dynamics and Control of Robotics

  • Automatic Control II

  • Digital Control System

  • Signal Processing

  • Introduction of Computer Assisted Surgery

  • Introduction of Intelligent Agriculture

    • 《Publications》

    1. Ping-Lang Yen, Ching-Heng Wang, Hoa-Ting Lin, Shuo-Suei Hung*, Optimization Design of a Compact Redundant Hybrid Parallel Kinematic Machine, Robotics and Computer-Integrated Manufacturing, pp. 172-180, Vol. 58, 2019. (SCI)

    2. Shuo-Suei Hung , Ping-Lang Yen*, Comparison of different kinematic methods for determining the hip joint center, Formosan Journal of Musculoskeletal Disorders 9 (2018) 131-136, 2018.

    3. P.L. Yen*, Y.C. Lin, An automated palpation ultrasound machine for breast cancer diagnosis, International Journal of Computer Assisted Radiology and Surgery, Vol.12, supplement1, S63-S64, June 2017. (SCI)

    4. Ping-Lang Yen, Yi-Jing Chu, Shang-Wei Hsu, Jing-Heng Wang, Shuo-Suei Hung*, Coordinated Control of Bone Cutting for a CT-free Navigation Robotic System in Total Knee Arthroplasty, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 10, 180-186, 2014. (SCI)

    5. Shuo-Suei Hung*, Ping-Lang Yen, Ming-Yih Lee, Assessment of elbow deformity with an ultrasonic motion analysis system via its rotation axis: A cadaver study. Formosan Journal of Musculoskeletal Disorders, Vol. 5, 97-106, 2014.

    6. Ping-Lang Yen,Yi-Jing Chu,Rey-Heng Hu,Chi-Chuan Yeh, Ren C. Luo (2013, Sep). An Automatic Object Tracking Steerable Endoscope. Journal of Medical Devices-Transactions of the ASME, Vol. 7, 030921-1~2.

    7. P.L. Yen, S.S. Hung, S.W. Hsu (2013, Aug). Coordinated Control for CT-free Robot-Asssited Total Knee Arthroplasty. Journal of Bone and Joint Surgery-British Volume.

    8. Ping-Lang Yen, Yi-Jing Chu, Shang-Wei Hsu, Jing-Heng Wang, Shuo-Suei Hung (2013, Aug). Coordinated Control of Bone Cutting for a CT-free Navigation Robotic System in Total Knee Arthroplasty. International Journal of Medical Robotics and Computer Assisted Surgery. (online).

    9. SS Hung, PL Yen, MY Lee, GF Tseng (2013, Aug). Determination of Bone Coordinates and Kinematics Assessment of Knee Motion Using Skeletal Markers in a Cadaver Study. Journal of Bone and Joint Surgery-British Volume.

    10. P.-L. Yen, R.-H. Fan, D. Chen, Y.-J. Chu, H.-C. Hsu (2013, Jun). Design and construction of 3D breast tumor phantoms for studying morphological effects on biomechanical properties. International Journal of Computer Assisted Radiology and Surgery, Vol. 8, Suppl. 1, S284-285.

    11. Ping-Lang Yen, Mu-Tian Yan* and Yil Chen (2013, May). Hysteresis Compensation and Adaptive Controller Design for a Piezoceramic Actuator System in Atomic Force Microscopy. Asian Journal of Control, Vol. 15, No. 3, pp. 1-16. (SCI).

    12. Ping-Lang Yen* and Shuo-Suei Hung (2013, Mar). Cooperative Force Control of a Hybrid Cartesian Parallel Manipulator for Bone Slicing. Robotica, Vol 31, Issue 2, pp. 173-182. (SCI).

    13. P. L. Yen*, S. S. Hung and Y. J. Chu (2012, Oct). Auto-Detection of Bone Cutting Through in Robot-Assisted Surgery. Journal of Bone and Joint Surgery-British Volume, Oct. 2012 94-B:(SUPP XLIV) 106.. (SCI).

    14. S. S. Hung*, P. L. Yen, M. Y. Lee and G. F. Tseng (2012, Oct). Optimising the Calculation Algorithm of Elbow Rotation Axis for Assessment of Elbow Deformity. Journal of Bone and Joint Surgery-British Volume, Oct. 2012 94-B:(SUPP XLIV). (SCI).

    15. Ping-Lang Yen, Hwa-Koon Wu, Hsin-Shun Tseng, Shou-Jen Kuo, Yu-Len Huang, Hong-Ting, Dar-Ren Chen* (2012, Jul). Vascular morphologic information of three dimensional power Doppler ultrasound is valuable in the classifications of breast lesions. Clinical Imaging, Vol. 36, No. 4, pp. 267-271. (SCI).

    16. Ping-Lang Yen*, Dar-Ren Chen, Kun-Tu Yeh and Pei-Yi Chu (2011, Nov). Development of a Stiffness Measurement Accessory for Ultrasound in Breast Cancer Diagnosis. Medical Engineering & Physics, Vol. 33, No. 9, pp. 1108-1119. (SCI).

    17. Mu-Tian Yan*, Yil Chen and Ping-Lang Yen (2011). Image Quality Improvement in Atomic Force Microscopy Using a Novel Control Strategy. Advanced Science Letters, Vol. 4, pp1529-1535.

    18. Wen-Dien Chang, Tzu-Shiang Lin, Joe-Air Jiang, Chang-Wang Liu, Chia-Pang Chen, Da-Wei Lai, Hsu-Cheng Lu, Chung-Wei Yen and Ping-Lang Yen*, (2011). An Implementation of a WSN-based Medical Monitoring System ─ An Example of the Blood Pressure Monitoring of Hemodialysis Patients. Engineering in Agriculture, Environment and Food, 2011. (EI).

    19. Ping-Lang Yen* and Shuo-Suei Hung, “Cooperative Force Control of a Hybrid Cartesian Parallel Manipulator for Bone Slicing”, Robotica, 2011, online. (SCI).

    20. Ping-Lang Yen, Hwa-Koon Wu, Hsin-Shun Tseng, Shou-Jen Kuo, Yu-Len Huang, Hong-Ting, Dar-Ren Chen*, “Vascular morphologic information of three dimensional power Doppler ultrasound is valuable in the classifications of breast lesions”, Clinical Imaging, 2011, online (SCI).

    21. Ping-Lang Yen, Hao-Ming Hsiao and Shuo-Suei Hung*, “Surgical Robots towards the Design Concept of an Intelligent Tool for Bone Resection in Total Knee Arthorplasty”, Journal of Biomechatronics Engineering, 2011, online.

    22. Ping-Lang Yen, Mu-Tian Yan* and Yil Chen, “Hysteresis Compensation and Adaptive Controller Design for a Piezoceramic Actuator System in Atomic Force Microscopy”, Asian Journal of Control, 2011, Article in Press. (SCI)

    23. Mu-Tian Yan*, Yil Chen and Ping-Lang Yen, “Image Quality Improvement in Atomic Force Microscopy Using a Novel Control Strategy”, Advanced Science Letters, Vol. 4, pp1-7, 2011, (SCI)

    24. PL Yen and BL Davies* (2010, Jan). Active constraint control for image-guided robotic surgery. Proc. IMechE, Part H: J. Engineering in Medicine, Vol. 224 No. 5, pp. 623-631. (SCI).

    25. Chin-Sheng Chen, Ming-Shium Hsieh, Yu-Wen Chiu, Chia-Hou Tsai, Shih-Ming Liu, Chun-Chang Lu, Ping-Lang Yen* (2010). An Unconstrained Virtual Bone Clamper for a Knee Surgical Robot Using Visual Servoing Technique. Journal of the Chinese Institute of Engineers, Vol. 33, No. 3, pp. 379-386. (SCI).

    26. Ping-Lang Yen, Hao-Ming Hsiao and Shuo-Suei Hung* (2009, Sep). Surgical Robots towards the Design Concept of an Intelligent Tool for Bone Resection in Total Knee Arthorplasty. Journal of Biomechatronics Engineering, 2(3), pp. 51-64.

    27. Ping-Lang Yen* and Chi-Chung Lai, “Dynamic Modeling and Control of a 3-DOF Cartesian Parallel Manipulator”, Mechatronics, Vol. 19, No. 3, pp. 390-398, 2009. (SCI).

    28. Ping-Lang Yen*, “A Two-Loop Robust Controller for Compensation of the Variant Friction Force in an Over-Constrained Parallel Kinematic Machine”, International Journal of Machine Tools and Manufacture, Vol. 48, Issues 12-13, pp. 1354-1365, Oct. 2008, (SCI).

    29. Ping-Lang Yen*, Dar-Ren Chen, Kun-Tu Yeh and Pei-Yi Chu, “Lateral Exploration Strategy for Differentiating the Stiffness Ratio of an Inclusion in Soft Tissue”, Medical Engineering & Physics, Vol. 30, Issue 8, pp. 1013-1019, Oct. 2008, Impact factor: 2.216, 17/52, (SCI).

    30. Mu-Tian Yan*, Yil Chen, and Ping-Lang Yen, “Tracking control of a piezoceramic actuator system using a combined self-tuning regulator and phase-lead compensator”, Proc. IMechE Part I: Journal of Systems and Control Engineering, Vol. 221, pp. 1-13, 2007. (SCI).

    31. Liang-Chia Chen*, Chia-Cheng Kuo and Ping-Lang Yen, “Automatic Optical Inspection on TFT-LCD Mura Defects using Background Image Reconstruction”, Key Engineering Materials, Vols. 364-366, pp. 400-403, 2007. (EI).

    32. Ping-Lang Yen*, Tien-Sen Lu and Mu-Tian Yan, “Development of an Ultra-Precision Positioning Stage Using an Opto-Mechatronic Component from a CD-ROM Drive”, Journal of the Chinese Society of Mechanical Engineers, Vol. 27, No. 1, pp. 47-52, 2006. (SCI).

    33. Chen C. S.*, Chen Li-Yeh and Yen Ping-Lang, “Cross-coupling Position Command Shaping Control of a Multi-axis Motion System Based on Multitasking Real-Time Kernel”, Frontiers of Design and Manufacturing, Vol. 2, pp. 485~490, Jun. 2006. (EI).

    34. Mu-Tian Yan*, Ming-Hung Lee, Ping-Lang Yen, “Theory and Application of a Combined Self-tuning Adaptive Control and Cross-coupling Control in a Retrofit Milling Machine”, Mechatronics, Vol. 15, No. 2, pp. 193-211, 2005. (SCI).

    《Conference Papers》

    1. Ping-Lang Yen* and Tsung-Han Ho, Navigation Graphics to Coordinate the Human and Robot Behavior for Handheld Robot Positioning, Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 98-102, 2019.

    2. Shuo-Suei Hung and Ping-Lang Yen*, Handle Navigation for a Smart Handheld Robot, CAOS 2019. The 19th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery.

    3. Ping -Lang Yen, Nai -Wen Chang, Chen -Ya Chen, Hong-Xuan Wei, Shih -Fang Chen, Wei -Yang Hwang, Development of a Small Tea Plucking Machine, Proceedings of the 9th International Symposium on Machinery and Mechatronics (ISMAB), Korea, 2018.

    4. Ping-Lang Yen, Ting-Ya Shiao, Tsung Han Ho, and Shao-Feng Xu, A smart handheld robot to assist drilling through the pedicle of a vertebra, International Symposium on Medical Robotics, Atlanta, USA, 2018.

    5. Ping-Lang Yen, Chao-Yu Yang, Feasibility Study of a Palpation Device for Early Detection of Breast Cancer, ARIS, Taipei, 2017.

    6. Ping-Lang Yen, Shuo-Suei Hung*, Handheld Robot for Bone Drilling Assistance, Annual Meeting of International Society of Computer Assisted Orthopeadics Surgery, Aachen, Germany, 2017.

    7. Ping-Lang Yen, Hsiao-Ching Hsu, Yu-Ching Lin, Yi-Jing Chu, Robot-Assisted Identification of Breast Tumor Biomechanics, IEEE/ICIT International Conference on Industrial Technology, Taipei, 2016.

    8. Yu-Ching Lin, Ping-Lang Yen, Yu-Che Liu (2016, Aug). Robot-Assisted Detection and Prediction of Breast Tumors. The 2nd Global Conference on Biomedical Engineering, Taipei.

    9. Ting-Ya Hsiao, Ping-Lang Yen, Shou-Suei Hung, Yi-Jing Chu (2016, Jun). Practical Considerations of Hip Centre Detection During Total Knee Arthroplasty. Annual Meeting of International Society of Computer Assisted Orthopeadics Surgery, Japan.

    10. Zi-Xiong Chen, Ping-Lang Yen (2016, Jun). Automatic Edge Finder System for CNC Machining. International Conference on Advanced Robotics and Intelligent Systems, Taipei.

    11. Ping-Lang Yen, Kang-Wei Lin, Cheng-Kuan Huang, Ta-Te Lin (2016, May). Direct Drive Design of a Hand-Carry Electrical Weeding Machine. The 8th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering (ISMAB), Japan.

    12. Ping-Lang Yen,Hsiao-Ching Hsuand Yu-Ching Lin (2016, Mar). Robot-Assisted Identification of Breast Tumor Biomechanics. 2016 IEEE International Conference on Industrial Technology (ICIT), Taipei.

    13. Ping-Lang Yen, Shuo-Suei Hung, Yi-Jing Chu (2015, Jun). Study of Muscular Effects on Measurement Accuracy of Skin Markers. Annual Meeting of Internatinal Society of Computer Assisted Orthopeadics Surgery, Canada.

    14. Ping-Lang Yen, Ding-Ya Hsiao, Yi-Jing Chu (2014, Aug). Force Sensation for a Steerable Endoscope. IEEE international Conference on Automation Science and Engineering.

    15. Ping-Lang Yen, Shuo-Suei Hung (2014, Jun). Development of a smart tool based on human intention estimation for accurate and fast operation. Annual Meeting of Computer Assisted Orthopeadic Surgery, Milan, Italy

    16. Ping-Lang Yen*, Shuo-Suei Hung (2013, Nov). Dynamics and control of a hands-on surgical robot for bone cutting. The 37th National Conference on Theoretical and Applied Mechanics (37th-NCTAM), The 1st International Conference on Mechanics (1st-ICM).

    17. Shang-Wei Hsu, Ping-Lang Yen* (2013, Oct). Determine the robot assistive forces based on human intent estimation in bone cutting applications. 13th International Conference on Control, Automation and Systems.

    18. Ping-Lang Yen*, Shang-Wei Hsu, Hang-Ting Lin, Ching-Heng Wang (2012, Oct). Assistive Control of a Surgical Robot Based on Bilateral Interacted Force Analysis. 12th International Conference on Control, Automation and Systems, Jeju, Korea.

    19. Ping-Lang Yen*, Chin-Hsiung Shieh, Suming Chen, Wei Fang, Hsiao-Feng Lo, K.C. Liao, Shang-Wei Hsu, Hang-Ting Lin (2012, Aug). Robot-Assisted Control of the Concentration of Nutrition Solution for Vegetable-Production in Plant Factories. The 43rd Intl. Symp. on Robotics (ISR2012), Taiwan.

    20. Ping-Lang Yen*, Shang-Wei Hsu, Wei-Sheng Huang, Yi-jing Chu (2012, Aug). Safe Human-Robot Cooperative Bone Cutting. The 43rd Intl. Symp. on Robotics (ISR2012), Taiwan.

    21. Yi-Jing Chu, Shih-Po Liu, Ren C. Luo, Rey-Heng Hu, Chi-Chuan Yeh, Yi Wen Peng, Ping-Lang Yen (2012, Jul). Dynamic Tracking of Anatomical Object for a Steerable Endoscope. 2012 IEEE/ASME International Conference on advanced intelligent Mechatronics, Taiwan.

    22. Chun-Hao Chang,Chin-Hsiung Shieh, Suming Chen, Wei Fang, Hsiao-Feng Lo, K.C. Liao, Ping-Lang Yen* (2012, Jun). Modeling and Control of the Concentration in a Closed Nutrient Solution Growing System. Proceedings of the 6th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering (ISMAB), Korea.

    23. Ping-Lang Yen*, Shuo-Suei Hung, Yi-Jing Chu (2012, Jun). A CT-less Image Model with Bone Cutting Dynamics for Safe Bone Cutting. International Society for Computer Assisted Orthopaedic Surgery, Korea.

    24. Yi-Jing Chu, Yen-Kai Cheng, Ruei-Hao Fan, Ta-Te Lin, Chen-Kang Huang, Ping-Lang Yen* (2012, Jun). The Analysis of Electrification of Traditional Agricultural Machinery. Proceedings of the 6th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering (ISMAB), Korea.

    25. Ping-Lang Yen*, Shuo-Suei Hung, Jing-Heng Wang, Yi-Jing Chu, C.-S. Hsieh (2011, Oct). Modeling Bone Cutting for Robot-Assisted Orthopedic Surgery. The 11th International Conference on Automation Technology,, Taiwan.

    26. Sen-Fuh Chang, Chih-Hung Tsai, and Ping-Lang Yen* (2011, Oct). Human Intention Study and Passive Motion Control of an Intelligent Walker. The 11th International Conference on Automation Technology, Taiwan.

    27. Ping-Lang Yen*, Shuo-Suei Hung and Yi-Jing Chu (2011, Jun). Auto-detection of bone cutting through in robot-assisted surgery. International Society of Computer Assisted Orthopaedic Surgery, London, UK.

    28. Ping-Lang Yen*, Yi-Jing Chu, Wei-Sheng Huang, Jing-Heng Wang and Shuo-Suei Hung (2011, Jun). Bone Cutting-through Detection under Imageless Navigation. 2011 World Congress on Intelligent Control and Automation, Taiwan.

    29. S. S. Hung and P. L. Yen (2011, Jun). Optimising the Calculation Algorithm of Elbow Rotation Axis for Assessment of Elbow Deformity. International Society of Computer Assisted Orthopaedic Surgery, London, UK.

    30. Ping-Lang Yen*, Jing-Heng Wang, Yi-Jing Chu and Shuo-Suei Hung (2011, May). Robot Human Cooperation for Bone Cutting through Detection. The 8th Asian Control Conference, Taiwan.

    31. Tzu-Ping Chung, Tzu-Shiang Lin,Xiang-Yao Zheng, and Ping-Lang Yen, Joe-Air Jiang (2011). A Load Balancing Algorithm Based on Probabilistic Multi-Tree for Wireless Sensor Networks. The Fifth International Conference on Sensing Technology.

    32. Ping-Lang Yen and Shuo-Suei Hung (2010, Oct). A Low Cost Approach to Robotic-Assisted Knee Replacement. The 4th International Symposium & Workshop on Virtual Interactive Musculoskeletal System,, Taiwan.

    33. Ping-Lang Yen and Shuo-Suei Hung (2010, Aug). An Intelligent Bone Cutting Tool in Robot-Assisted Knee Replacement. SICE Annual Conference 2010, Taiwan.

    34. Ping-Lang Yen*, Hao-Ming Hsiao, and Shuo-Suei Hung (2010, Jul). Design of the Surgical Robot for Orthopaedics Applications. 2010 International Conference on System Science and Engineering.

    35. Ping-Lang Yen and Shuo Suei Hung, (2010, Jun). An Intelligent Bone Cutting Tool in Robotic-Assisted Knee Replacement. 10th CAOS Annul Meeting,, Paris, France.

    36. Joe-Air Jiang, Chang-Wang Liu, Wen-Dien Chang, Chia-Pang Chen, Da-Wei Lai, Hsu-Cheng Lu, Chung-Wei Yen, and Ping-Lang Yen (2010, Apr). An Implementation of a WSN-based Medical Monitoring System ─ An Example of the Blood Pressure Monitoring of Hemodialysis Patients,. The 5th International Symposium on Machinery and Mechatronics for Agricultural and Biosystems Engineering (ISMAB 2010),, Japan.

    37. Joe-Air Jiang, Tzu-Shiang Lin, Cheng-Long Chuang, Ping-Lang Yen, Kun-Yaw Ho, Jung-Jui Cheng, and Ming-Ying Lin (2010, Apr). Study of the Adaptive Reliable Routing Algorithm for Agricultural Applications of Wireless Sensor Networks. The 5th International Symposium on Machinery and Mechatronics for Agricultural and Biosystems Engineering (ISMAB 2010), Japan.

    38. Ping-Lang Yen and Shuo Suei Hung (2010, Apr). A Surgical Planning System for Minimally Invasive Surgery of Knee Replacement. 7th CAOS Asia meeting, Thailand.

    39. Shuo Suei Hung and Ping-Lang Yen (2010, Apr). Assessment of Elbow Joint Deformity via Rotational Axis in a Fresh Frozen Cadaver Study. 7th CAOS Asia meeting,, Thailand.

    40. Ping-Lang Yen and Syh-Shiuh Yeh, “Intelligent Human-Machine Cooperative Robot for Orthopaedic Surgery”, 2008 IEEE Asia Pacific Conference on Circuits and Systems, pp. 741-744, Nov. 2008. (SCI)

    41. Ping-Lang Yen*, “A CT-free Surgical Planning and Bone Resection Assisted Robot for Total Knee Arthroplasty”, pp. 400-402, 8th Annual Meeting of Computer Assisted Orthopaedic Surgery,-International Proceedings, Hong Kong, China, 4-7 June, 2008.

    42. TSS Hung*, PL Yen and MY Lee, “In Vitro Robot Assisted Bone Resection for Total Knee Arthroplasty – an Orthopedic Surgeon’s Experience”, pp. 350-351, 8tng Kong, China, 4-7 June, 2008. h Annual Meeting of Computer Assisted Orthopaedic Surgery,-International Proceedings, Hong Kong, China, 4-7 June, 2008.

    43. Ping-Lang Yen and Chia-Hou Tsai, “Cooperative Force Control of a Knee Surgical Robot for Lateral Milling of Bone”, IEEE Workshop on Advanced Robotics and its Social Impacts, Hsin-Chu, Taiwan, pp. 73-78, 2007. (EI)

    44. Ping-Lang Yen, Chung-Wei Lu and Darren Chen, “Computer Assisted Diagnosis of Breast Cancer Using Tactile Ultrasound Images”, Third Asian Conference on Computer Aided Surgery, Singapore, 2007.

    45. Ping-Lang Yen and Chia-Hao Tsai, “Combination of Lateral Milling Method and Cooperative Force Control for Bone Resection in Total Knee Replacement”, Third Asian Conference on Computer Aided Surgery, Singapore, 2007.

    46. Ping-Lang Yen and Ying-Lun Hsu, “A Novel Bone Resection Method for Knee Surgical Robot”, International Automatic Control Conference, Taichung, Taiwan, pp. 1120-1125, 2007.

    47. Ping-Lang Yen, Daren Chen and Chao-Hsian Jen, “Artificial Neural Network Inverse Model for the Elastic Property Prediction of Inclusions”, Proceedings of the Sixth International Conference of the Ultrasonic Measurement and Imaging of Tissue Elasticity, pp. 55, Santa-Fe, United States, 2007.

    48. Ping-Lang Yen, Yu-Hsiu Lin and Chao-Hsiang Jen, “Identification of the Inclusion Biomedical Properties in Soft Tissues by Artificial Neural Network”, Proceedings of The 2007 IEEE International Conference on Systems, Man and Cybernetics, pp. 1512-1516, Montreal, Quebec, Canada, Oct. 7-10, 2007. (EI)

    49. Ping-Lang Yen and Cheng-Hsin Liu “Impedance Force Control for Lateral Milling of Bone in Total Knee Arthroplasty” , Proceedings of The 2007 IEEE International Conference on Systems, Man and Cybernetics, pp. 2960-2964, Montreal, Quebec, Canada, Oct. 7-10, 2007. (EI)

    50. Ping-Lang Yen and Chi-Chung Lai, “Lateral Milling of Bone for Total Knee Arthroplasty Using an Impedance Force Controlled Hybrid Cartesian Knee Surgical Robot”, R. Langlotz, B. L. Davies and P. A. Grutzner (eds.), Computer Assisted Orthopaedic Surgery, 7th Annual Meeting of CAOS-International Proceedings, Pro BUSINESS GmbH, pp. 377-379, 2007.

    51. Ping-Lang Yen and Shih-Wei Hsu, “A Lateral Exploration Strategy Combined with Artificial Neural Network to Differentiate the Inclusions in Soft Tissues”, Dec 14-16, 2006 International Symposium on Biomedical Engineering, Taipei, Taiwan, Dec 14-16, 2006.

    52. Ping-Lang Yen and Chi-Chung Lai, “Developing a Hybrid Cartesian Parallel Manipulator for Knee Surgery”, Proceedings of The 2006 IEEE International Conference on Robotics, Automation and Mechatronics, pp. 822-827, Bangkok, Thailand, Jun. 7-9, 2006.

    53. Ping-Lang Yen, Kai-Yang Chang, Ming-Kung Chang, Shih-Wei Hsu and Cheng-Hsin Liu, “Artificial Neural Network Model for Mass Characterization in Breast Palpation”, Proceedings of The 2006 IEEE International Conference on Systems, Man and Cybernetics, pp. 507-512, Taipei, Taiwan, Oct. 8-11, 2006.

    54. Ming-Kung Chang , Ping-Lang Yen and Tsan-Hsiu Yuan, “Angle Control of a one-Dimension Pneumatic Muscle Arm using Self-Organizing Fuzzy Control”, Proceedings of The 2006 IEEE International Conference on Systems, Man and Cybernetics, pp. 3834-3838, Taipei, Taiwan, Oct. 8-11, 2006.

    55. Ping-Lang Yen and Shih-Wei Hsu, “A Lateral Exploration Strategy Combined with Artificial Neural Network to Differentiate the Inclusions in Soft Tissues”, Dec 14-16, 2006 International Symposium on Biomedical Engineering, Taipei, Taiwan, Dec 14-16, 2006.

    56. Ping-Lang Yen and Tien-Sen Lu, “Making a High-Precision Positioning Apparatus by an Optical Pickup Head Module”, Proceedings of the 2005 IEEE International Conference on Mechatronics and the 2005 IEEE International Conference on Hands-on Intelligent Mechatronics and Automation, pp. 145-150, Taipei, Taiwan, July 10-12, 2005.

    57. Ping-Lang Yen and Tien-Sen Lu, “Development of an Ultra-Precision Positioning Stage Using an Opto-Mechatronic Component from a CD-ROM Drive”, Proceedings of the 2005 International Conference on Advanced Manufacture, Nov. 28, 2005.

    58. Ping-Lang Yen, Zhi-Wei Ke, Tien-Sen Lu, Chung-Wei Lu, “Development of a New Safety-Enhanced Surgical Robot Using the Hexaglide Structure”, 2004 IEEE International Conference on Systems, Man and Cybernetics,The Hague, The Netherlands, pp. 2162-2167, Oct. 10-13, 2004.

    59. Ping-Lang Yen, Wen-I Hsiao and Tien-Sen Lu, “Developing a New Low-Cost XY Table Using Optical Pickup Head with Adaptive Controller”, 2004 IEEE International Conference on Control Applications, Taipei, Taiwan, pp. 117-122, Sep. 2-4 2004.

    60. Ping-Lang Yen, “Maximization of the Stability Allowable Region of the Impedance Scaling for Telemanipulators”, 2004 IEEE International Conference on Networking, Sensing, and Control, Taipei, pp.1352-1257, 2004.

    61. Ping-Lang Yen, “Palpation Sensitivity Analysis of Exploring Hard Objects under Soft Tissue”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Japan, July, pp. 1102-1106, 2003.

    《Patents》

    1. A HANDHELD ROBOT FOR ORTHOPEDIC SURGERY AND A CONTROL METHOD THEREOF

    2. A MULTI-AXIS HYBRID MACHINE TOOL CAPABLE OF MAINTAINING OPERATION AT AN OPTIMUM OPERATING PLANE AND A SPHERICAL JOINT

    3. DRILLING CONTROL SYSTEM AND DRILLING CONTROL METHOD

    4. 手持式腫瘤診斷輔助系統及應用於該系統之物體嵌入物硬度偵測方法（中華民國發明專利，美國專利

    5. 智慧型骨頭切削裝置,台灣: I417078

    6. 顏炳郎，賴志仲，半主動混合式解耦機構之骨科手術輔助機器人，中華民國發明專利第 I286505 號。

    7. XY Platform Device with Nanoscale Precision, US 7,295,495 B2

    8. 顏炳郎，黃軍豪，李俊毅，一種可攜式乳癌自動觸診裝置，中華民國新型專利第 M244874 號。

    9. 顏炳郎，蔡習訓，陳佑任，林建偉，盧天生，蕭文益，奈米級XY平台裝置，中華民國新型專利第 M247827 號。

    10. 顏炳郎，蔡習訓，陳佑任，林建偉，盧天生，蕭文益，奈米級表面輪廓儀，中華民國新型專利第 M249008 號。

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