A.  Journal publications

1. Pin-Chun Yeh, Yi-Shian Tsai, and Chao-Chieh Lan, 2024, “A Compliant Gripper with Two-Dimensional Force Sensing on Each Finger,” IEEE/ASME Transactions on Mechatronics (In press).
2. Meng-Yun Tsai, Ming-Yang Cheng, Hao-Chun Liao, and Chao-Chieh Lan, 2024, “Kinematics and compliance analyses of a 3T1R parallel manipulator with rotational symmetry,” Mechanism and Machine Theory, 193, p. 105544.
3. Chen-Pin Yu, Chun-Hung Huang, and Chao-Chieh Lan, 2023, “Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators with High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios,” IEEE Access, 11, 114378-114389.
4. Chun-Hung Huang, Kuan-Wei Chiao, Chen-Pin Yu, Yen-Chien Kuo, and Chao-Chieh Lan, 2023, “A Variable-Stiffness Robot for Force-Sensitive Applications,” IEEE/ASME Transactions on Mechatronics, 28(4), 1862-1870.
5. Shi-Da Lin, Sheng-Yuan Huang, Chao-Chieh Lan,Mahendran Chidambaram, and Visweswaren Sivaramakrishnan, 2023, “Design and Experiment of a New Translational Parallel Manipulator with Large Payload and High Repeatability,” Mechanism and Machine Theory, 180, p. 105124.
6. Chia-Cheng Chung, Chun-Hung Huang, and Chao-Chieh Lan, 2022, “A Torque-Controlled Actuator with High Rigidity and Low Aspect Ratio,” IEEE/ASME Transactions on Mechatronics, 27(6), pp. 5572-5582.
7. Chun-Yu Tsai, Chen-Pin Yu,  Pin-Chun Yeh, and Chao-Chieh Lan, 2022, “Parametric Joint Compliance Analysis of a 3-UPU Parallel Robot,”  Mechanism and Machine Theory, 170, p. 104721.
8. Yu-Hsuan Lai, Sheng-Yuan Huang, and Chao-Chieh Lan, 2022, “A Force-Controlled Parallel Robot for Large-Range Stiffness Rendering in Three Dimensions,” IEEE Robotics and Automation Letters, 7(2), 1340-1347.
9. Yan-Lin Huang, Chia-Hao Liang, Bo-Hao Chen, and Chao-Chieh Lan, 2021, “Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation,” IEEE Access, 9, 94495-94504.
10. Yu-Shen Lee, Kuan-Wei Chiao, and Chao-Chieh Lan, 2021, “A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments,” IEEE Robotics and Automation Letters, 6(2), pp. 736-746.
11. Yu-Hsiang Chang, Chia-Hao Liang, and Chao-Chieh Lan, 2021, “An End-effector Wrist Module for the Kinematically Redundant Manipulation of Arm-type Robots,” Mechanism and Machine Theory, 155, p. 104064.
12. Ching-Hui Lin, Yin-Yu Su, Yu-Hsuan Lai, and Chao-Chieh Lan, 2020, “A Spatial-Motion Assist-as-Needed Controller for the Passive, Active, and Resistive Robot-Aided Rehabilitation of the Wrist,” IEEE Access, 8, 133951-133960.
13. Kuei-You Lin, Chia-Cheng Chung, and Chao-Chieh Lan, 2020, “Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios,” IEEE Access, 8, pp. 6968-6977.
14. Yu-Ling Kuo and Chao-Chieh Lan, 2020, “A Two-Dimensional Adjustable Constant-Force Mechanism,” ASME Journal of Mechanical Design, 142(6), 063304.
15. Kuan-Yi Wu, Yin-Yu Su, Ying-Lung Yu, Ching-Hui Lin, and Chao-Chieh Lan, 2019, “A 5-Degrees-of-Freedom Lightweight Elbow-Wrist Exoskeleton for Forearm Fine-Motion Rehabilitation,” IEEE/ASME Transactions on Mechatronics, 24(6), pp. 2684-2695.
16. Yin-Yu Su, Ying-Lung Yu, Ching-Hui Lin, and Chao-Chieh Lan, 2019, “A Compact Wrist Rehabilitation Robot with Accurate Force/Stiffness Control and Misalignment Adaptation,” International Journal of Intelligent Robotics and Applications, 3(1), pp. 45-58.
17. Ying-Lung Yu and Chao-Chieh Lan, 2019, “Design of a Miniature Series Elastic Actuator for Bilateral Teleoperations Requiring Accurate Torque Sensing and Control,” IEEE Robotics and Automation Letters, 4(2), pp. 500-507.
18. Chih-Chieh Chen and Chao-Chieh Lan, 2018, "An Accurate Force Regulation Mechanism for High-Speed Handling of Fragile Objects Using Pneumatic Grippers," IEEE Transactions on Automation Science and Engineering, 15(4), pp. 1600-1608.
19. Hsiang-Chien Hsieh, Dian-Fu Chen, Li Chien, and Chao-Chieh Lan, 2017, "Design of a Parallel Actuated Exoskeleton for Adaptive and Safe Robotic Shoulder Rehabilitation," IEEE/ASME Transactions on Mechatronics, 22(5), pp. 2034-2045.
20. Deng-Ying Lin, Bo-Jiun Hou, and Chao-Chieh Lan, 2016, "A Balancing Cam Mechanism for Minimizing the Torque Fluctuation of Engine Camshafts," Mechanism and Machine Theory, 108, pp. 160-175.
21. Yu-Feng Li, Cheng-Yu Chu, Jia-You Xu, and Chao-Chieh Lan, 2016, "A Humanoid Robotic Wrist with Two-Dimensional Compliant Actuation for Accurate Force/Torque Interaction," IEEE/ASME Transactions on Mechatronics, 21(3), pp. 1315-1325.
22. Tai-Hsun Wu and Chao-Chieh Lan, 2016, "A Wide-Range Variable Stiffness Mechanism for Semi-active Vibration Systems," Journal of Sound and Vibration, 363, pp. 18-32.
23. Zong-Wei Yang and Chao-Chieh Lan, 2015, "An Adjustable Gravity-Balancing Mechanism Using Planar Extension and Compression Springs," Mechanism and Machine Theory, 92, pp. 314-329.
24. Yi-Syuan Wu and Chao-Chieh Lan, 2014, “Linear Variable-Stiffness Mechanisms Based on Preloaded Curved Beams,” ASME Journal of Mechanical Design, 136(12), 122302.
25. Chao-Chieh Lan, Sheng-An Yang, and Yi-Syuan Wu, 2014, “Design and Experiment of a Compact Quasi-Zero-Stiffness Isolator Capable of a Wide Range of Loads,” Journal of Sound and Vibration, 333, 4843−4858.
26. Cheng-Yu Chu, Jia-You Xu, and Chao-Chieh Lan, 2014, “Design and Experiment of a Compact Wrist Mechanism with High Torque Density,” Mechanism and Machine Theory, 78, pp. 65−80.
27. Jung-Yuan Wang and Chao-Chieh Lan, 2014, “A Constant-Force Compliant Gripper for Handling Objects of Various Sizes,” ASME Journal of Mechanical Design, 136(7), 071008.
28. Chih-Ming Lai, Cheng-Yu Chu, and Chao-Chieh Lan, 2013, “A Two-Degrees-of-Freedom Miniature Manipulator Actuated by Antagonistic Shape Memory Alloys,” Smart Materials and Structures, 22, 085006.
29. Yi-Chiao Lee, Chao-Chieh Lan, Cheng-Yu Chu, Chih-Ming Lai, and Yi-Jie Chen, 2013, “A Pan-Tilt orienting Mechanism with Parallel Axes of Flexural Actuation,” IEEE/ASME Transactions on Mechatronics,18(3), pp. 1100−1112.
30. Chia-Wen Hou and Chao-Chieh Lan, 2013, “Functional Joint Mechanisms with Constant-Torque Outputs,” Mechanism and Machine Theory, 62, pp. 166−181.
31. Yi-Ho Chen and Chao-Chieh Lan, 2012, “Design of a Constant-Force Snap-fit Mechanism for Minimal Mating Uncertainty,” Mechanism and Machine Theory, 55, pp. 34−50.
32. Cheng-Wei Cheng, Chao-Chieh Lan, and Chun-Yi Tseng, 2012, “Modeling and Design of Air Vane Motors for Minimal Torque Ripples,” ASME Journal of Mechanical Design, 134(5), 051003.
33. Yi-Ho Chen and Chao-Chieh Lan, 2012, “An Adjustable Constant-Force Mechanism for Adaptive End-Effector Operations,” ASME Journal of Mechanical Design, 134(3), 031005.
34. Chao-Chieh Lan, Che-Min Lin, and Chen-Hsien Fan, 2011, “A Self-Sensing Microgripper Module with Wide Handling Ranges,” IEEE/ASME Transactions on Mechatronics, 16(1), pp. 141−150.
35. Chao-Chieh Lan and Chen-Hsien Fan, 2010, “An Accurate Self-Sensing Method for the Control of Shape Memory Alloy Actuated Flexures,” Sensors and Actuators: A. Physical, 163, pp. 323−332.
36. Chao-Chieh Lan, Kok-Meng Lee, and Jian-Hao Liou, 2009, “Dynamics of Highly Elastic Mechanisms Using the Generalized Multiple Shooting Method: Simulations and Experiments,” Mechanism and Machine Theory, 44(12), pp. 2164−2178.
37. Chao-Chieh Lan, Jhe-Hong Wang, and Chen-Hsien Fan, 2009, “Optimal Design of Rotary Manipulators Using Shape Memory Alloy Wire Actuated Flexures,” Sensors and Actuators: A. Physical,153, pp. 258−266.
38. Chao-Chieh Lan and You-Nien Yang, 2009, “A Computational Design Method for Shape Memory Alloy Wire Actuated Compliant Finger,” ASME Journal of Mechanical Design, 131(2), 021009.
39. Chao-Chieh Lan and Yung-Jen Cheng, 2008, “Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions,” ASME Journal of Mechanical Design, 130, 072304.
40. Chao-Chieh Lan, 2008, “Analysis of Large-displacement Compliant Mechanisms Using an Incremental Linearization Approach,” Mechanism and Machine Theory, 43(5), pp. 641−658.
41. Chao-Chieh Lan and Kok-Meng Lee, 2008, “An Analytical Contact Model for Design of Compliant Fingers,” ASME Journal of Mechanical Design, 130, 011008.
42. Chao-Chieh Lan and Kok-Meng Lee, 2006, “Generalized Shooting Method for Analyzing Compliant Mechanisms with Curved Members,” ASME Journal of Mechanical Design, 128(4), pp. 765−775.

B. Conference publications

1. Yu-Shen Lee and Chao-Chieh Lan, 2020, “Rendering of Arbitrary and Stable Stiffness Using a Series Elastic Actuator,” 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 960-965.
2. Cho, Meng-Kuan, Sheng-Yuan Huang, and Chao-Chieh Lan, 2019, “Design of a Novel Haptic Device for Bilateral Teleoperations Requiring Accurate Force Interaction,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Hong Kong, China.
3. Kuo, Yu-Ling, Sheng-Yuan Huang, and Chao-Chieh Lan, 2019, “Sensorless Force Control of Automated Grinding/Deburring Using an Adjustable force regulation mechanism,” IEEE International Conference on Robotics and Automation, Montreal, Canada.
4. Yin-Yu Su, Kuan-Yi Wu, Ching-Hui Lin, Ying-Lung Yu, and Chao-Chieh Lan, 2018, “Design of a Lightweight Forearm Exoskeleton for Fine-Motion Rehabilitation,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Auckland, New Zealand.
5. Kuan-Yi Wu, Yin-Yu Su, Ying-Lung Yu, Kuei-You Lin, and Chao-Chieh Lan, 2017, “Series Elastic Actuation of an Elbow Rehabilitation Exoskeleton with Axis Misalignment Adaptation,” IEEE International Conference on Rehabilitation Robotics, London, England.
6. Kuei-You Lin and Chao-Chieh Lan, 2017, “High-Performance Series Elastic Stepper Motors for Interaction Force Control,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Munich, Germany.
7. Chih-Chieh Chen and Chao-Chieh Lan, 2016, “An Accurate Force Regulation Mechanism for Handling Fragile Objects Using Pneumatic Grippers,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Banff, Canada.
8. Li Chien, Dian-Fu Chen, and Chao-Chieh Lan, 2016, “Design of an Adaptive Exoskeleton for Safe Robotic Shoulder Rehabilitation,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Banff, Canada.
9. Tai-Hsun Wu and Chao-Chieh Lan, 2015, “Design and Analysis of an Elastic Mechanism with Adjustable Stiffness,” The 14^th IFTOMM World Congress.
10. Hsiang-Chien Hsieh, Li Chien, and Chao-Chieh Lan, 2015, “Dimensional Synthesis of a Lightweight Shoulder Exoskeleton,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Busan, Korea.
11. Tai-Hsun Wu and Chao-Chieh Lan, 2015, “Design and Analysis of an Elastic Mechanism with Adjustable Zero-to-Infinite Linear Stiffness,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Busan, Korea.
12. Hsiang-Chien Hsieh, Li Chien, and Chao-Chieh Lan, 2015,“Mechanical Design of a Gravity-Balancing Wearable Exoskeleton for the Motion Enhancement of Human Upper Limb,” IEEE International Conference on Robotics and Automation, Seattle, USA.
13. Hsiang-Chien Hsieh and Chao-Chieh Lan, 2014, “A Lightweight Gravity-Balanced Exoskeleton for Home Rehabilitation of Upper Limbs,” IEEE International Conference on Automation Science and Engineering, Taipei, Taiwan.
14. Yi-Syuan Wu and Chao-Chieh Lan, 2014, “Design of a Linear Variable-Stiffness Mechanism Using Preloaded Bistable Beams,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France.
15. Cheng-Yu Chu, Jia-You Xu, and Chao-Chieh Lan, 2014, “Design and Control of a Robotic Wrist with Two Collocated Axes of Compliant Actuation,” IEEE International Conference on Robotics and Automation, Hong Kong, China.
16. Chih-Ming Lai, Cheng-Yu Chu, and Chao-Chieh Lan, 2013, “Design of a Miniature Manipulator Actuated by Antagonistic Shape Memory Alloys,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia.
17. Cheng-Yu Chu, Jia-You Xu, and Chao-Chieh Lan, 2012, “Development of a Compact Wrist Mechanism with High Torque Density,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kaohsiung, Taiwan.
18. Chao-Chieh Lan, Yi-Chiao Lee, Jinn-Feng Jiang, Yi-Jie Chen, and Hung-Yuan Wei, 2011, “Design of a Compact Camera-orienting Mechanism with Flexural Pan and Tilt Axes,” IEEE International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.
19. Chao-Chieh Lan and Jung-Yuan Wang, 2011, “Design of Adjustable Constant-force Forceps for Robot-Assisted Surgical Manipulation,” IEEE International Conference on Robotics and Automation, Shanghai, China.
20. Chao-Chieh Lan and Chen-Hsien Fan, 2010, “Investigation on Pretensioned Shape Memory Alloy Actuators for Force and Displacement Self-Sensing,” IEEE International Conference on Intelligent Robots and Systems, Taipei, Taiwan.
21. Chao-Chieh Lan and Cheng-Wei Cheng, 2010, “Modeling and Design of Air Vane Motors for Minimal Torque Ripples,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada.
22. Chao-Chieh Lan, Jhe-Hong Wang, and Yi-Ho Chen, 2010, “A Compliant Constant-Force Mechanism for Adaptive Robot End-effector Operations,” IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA.
23. Zhe-Hong Wang, Chen-Hsien Fan, and Chao-Chieh Lan, 2009, “A Two-Way Flexural Rotation Manipulator Using Opposing Shape Memory Alloy Wires,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore.
24. Che-Min Lin, Chen-Hsien Fan, and Chao-Chieh Lan, 2009, “A Shape Memory Alloy Actuated Microgripper with Wide Handling Ranges,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore.
25. Zhe-Hong Wang, Chen-Hsien Fan, and Chao-Chieh Lan, 2009, “A Compact Rotational Manipulator Using Shape Memory Alloy Wire Actuated Flexures,” IEEE International Conference on Robotics and Automation, Kobe, Japan.
26. Chao-Chieh Lan and You-Nien Yang, 2008, “An Analytical Design Method for a Shape Memory Alloy Actuated Compliant Finger,” ASME International Design Engineering Technical Conference, New York, NY, Aug. 3-6, 2008.
27. Chao-Chieh Lan and Yung-Jen Cheng, 2007, “Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions,” ASME International Design Engineering Technical Conference, Las Vegas, Nevada, Sep. 4-7, 2007.
28. Chao-Chieh Lan and Kok-Meng Lee, 2006, “An Analytical Contact Model for Design of Compliant Fingers,” International Symposium on Flexible Automation (ISFA), Osaka, Japan.
29. Chao-Chieh Lan and Kok-Meng Lee, 2005, “Dynamic Analysis of Mechanisms with Highly Compliant Members,” ASME International Mechanical Engineering Congress and Exposition, orlando.
30. Chao-Chieh Lan and Kok-Meng Lee, 2005, “Dynamic Model of a Compliant Link with Large Deflection and Shear Deformation,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics.
31. Chao-Chieh Lan and Kok-Meng Lee, 2005, “An Analytical Method for Design of Compliant Grippers with Macro/Micro Manipulation and Assembly Applications,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics.
32. Chao-Chieh Lan and Kok-Meng Lee, 2005, “Generalized Shooting Method for Analyzing Compliant Mechanisms,” IEEE International Conference on Robotics and Automation, Barcelona, Spain.
33. Xuecheng Yin, Kok-Meng Lee, and Chao-Chieh Lan, 2004, “Computational Models for Predicting the Deflected Shape of a Non-Uniform, Flexible Finger,” IEEE International Conference on Robotics and Automation, New orleans, 3, pp. 2963 – 2968.

1. 2006 International Symposium on Flexible Automation: Best paper award (Theory)
2. 2010 指導徐上雲同學獲得第七屆上銀機械碩士論文獎 - 佳作獎
3. 2011 指導李奕樵同學獲得第八屆上銀機械碩士論文獎 - 金質獎
4. 2011 IEEE International Conference on Robotics and Automation: Best medical robotics paper award - finalist
5. 2012  指導陳怡和同學獲得機構與機械原理學會 - 傑出碩士論文獎
6. 2012 臺綜大年輕學者創新研究成果選拔 - 佳作獎
7. 2013 101年度成大機械系教學優良教師
8. 2013 中國機械工程學會102年度優秀青年工程教授獎
9. 2013 指導謝祥謙、楊宗偉同學獲得第十五屆全國創新機構設計比賽 - 銀牌獎
10. 2013 指導楊勝安、吳宜軒同學獲得2013輕金屬創新應用競賽 - 學生組佳作獎
11. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Best Paper Award Finalist
12. 2014 International Forum on Systems and Mechatronics: Session's Best Paper Award 
13. 2014 指導謝祥謙、簡隸同學獲得第十六屆全國創新機構設計比賽 - 佳作獎
14. 2014 第十七屆全國機構與機器設計學術研討會 - 最佳論文
15. 2015 指導林冠儒同學獲得第十一屆上銀機械碩士論文獎 - 佳作獎
16. 2015 成功大學103學年度教學特優教師
17. 2015 指導簡隸、陳典賦同學獲得第十七屆全國創新機構設計比賽 - 銀牌獎
18. 2016 指導朱証裕同學獲得第十二屆上銀機械碩士論文獎 - 金質獎
19. 2016 第三屆上銀傑出創作獎
20. 2016 指導林奎佑、簡隸同學獲得第24屆全國自動化科技研討會論文競賽第二名
21. 2017 指導蘇胤毓、林靜慧同學獲得第十九屆全國創新機構設計比賽 - 金牌獎
22. 2017 指導吳冠毅、尤應龍同學獲得第十九屆全國創新機構設計比賽 - 銅牌獎
23. 2018 指導陳典賦同學獲得第十四屆上銀機械碩士論文獎 - 金質獎
24. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Best Paper Award
25. 2018 指導劉宴君同學獲得科技部106年度大專學生研究計畫創作獎
26. 2019 指導賴于暄同學參加萬潤創新創意競賽 - 銀獎 
27. 2020 指導蘇胤毓同學獲得第十六屆上銀機械碩士論文獎 - 優等獎
28. 2020 中國工程師學會高雄分會 - 工程教授獎
29. 2021 成功大學109學年度教學傑出教師
30. 2021 指導賴于暄同學參加萬潤創新創意競賽 - 金獎
31. 2022 成功大學110學年度輔導優良導師
32. 2022 指導黃竣鴻同學參加萬潤創新創意競賽– 金獎
33. 2023 指導葉品均同學參加萬潤創新創意競賽– 銅獎
34. 2023 台達年輕學者科技講座(機器人領域)