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ORCIDZheng Li 0012
Person information
- affiliation: Chinese University of Hong Kong, Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine
Other persons with the same name
- Zheng Li — disambiguation page
- Zheng Li 0001
![[0000-0002-9704-7651]](https://dblp.uni-trier.de/img/orcid-mark.12x12.png "0000-0002-9704-7651")
(aka: Zheng Eddie Li 0001) — Queen's University Belfast, UK (and 5 more) - Zheng Li 0002 — Beijing University of Chemical Technology, China (and 2 more)
- Zheng Li 0003 — Hebei University of Science and Technology, Shijiazhuang, Hebei, China
- Zheng Li 0004 — Beijing Normal University, China
- Zheng Li 0005 — Huazhong University of Science and Technology, Wuhan National Lab for Optoelectronics, China
- Zheng Li 0006 — Stockton University, School of Business, Galloway, NJ, USA (and 2 more)
- Zheng Li 0007 — Shandong University, Department of Electrical Engineering, Jinan, China
- Zheng Li 0008 — Shandong University, Key Laboratory of Cryptologic Technology and Information Security, Jinan, China
- Zheng Li 0009 — Beijing Jiaotong University, Key Laboratory of All Optical Network and Advanced Telecommunication Network of MOE, China
- Zheng Li 0010 — Tongji University, Department of Structural Engineering, Shanghai, China
- Zheng Li 0011 — Yangtze University, School of Information and Mathematics, Jingzhou, China
- Zheng Li 0013 — Nanjing University of Aeronautics and Astronautics, College of Electronic and Information Engineering, China
- Zheng Li 0014 — Beijing University of Posts and Telecommunications, School of Information and Communication Engineering, China
- Zheng Li 0015 — Peking University, Department of Mechanics and Engineering Science, Beijing, China
- Zheng Li 0016 — North China Electric Power University, Department of Computer, Baoding, China
- Zheng Li 0017 — Tianjin University of Traditional Chinese Medicine, China
- Zheng Li 0018 — Amazon.com Inc, USA (and 1 more)
- Zheng Li 0019 — Tsinghua University, State Key Lab of Power Systems, Department of Energy and Power Engineering, China
- Zheng Li 0020 — Arizona State University, School of Computing, Informatics, and Decision Systems Engineering, Tempe, AZ, USA
- Zheng Li 0021 — Tokyo Institute of Technology, Department of Electrical and Electronic Engineering, Japan
- Zheng Li 0022 — Northeastern University, Department of Mathematics and the State Key Laboratory of Synthetical Automation for Process Industries, Shenyang, China
- Zheng Li 0023 — (and 3 more)
- Zheng Li 0024 — Karlsruhe University, Germany
- Zheng Li 0025 — Wuhan University, State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, China
- Zheng Li 0026 — Guizhou University, State Key Laboratory of Public Big Data, Guiyang, China (and 1 more)
- Zheng Li 0027 — Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, China (and 1 more)
- Zheng Li 0028 — Nankai University, College of Computer Science, China (and 1 more)
- Zheng Li 0029 — Henan University, School of Computer and Information Engineering, Henan Key Laboratory of Big Data Analysis and Processing, Kaifeng, China
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2020 – today
- 2024
[j38]Xue Zhang, Jian Li, Yisen Huang, Yitian Xian, Max Q.-H. Meng, Philip Wai Yan Chiu, Zheng Li:
Design and Optimal Pose-Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery. Adv. Intell. Syst. 6(1) (2024)- [j37]Junming Wang, Jing Shu, Md Masruck Alam, Zhaoli Gao, Zheng Li, Raymond Kai-Yu Tong:
Drift-Aware Feature Learning Based on Autoencoder Preprocessing for Soft Sensors. Adv. Intell. Syst. 6(3) (2024) - [j36]Disheng Xie, Yujie Su, Xiangqian Shi, Shuk Fan Tong, Zheng Li, Raymond Kai-Yu Tong:
A Compact Elbow Exosuit Driven by Pneumatic Artificial Muscles. IEEE Robotics Autom. Lett. 9(4): 3331-3338 (2024) - [j35]Yehui Li, Wing Yin Ng, Weibing Li, Yisen Huang, Heng Zhang, Yitian Xian, Jixiu Li, Yichong Sun, Philip Wai Yan Chiu, Zheng Li:
Towards Semi-Autonomous Colon Screening Using an Electromagnetically Actuated Soft-Tethered Colonoscope Based on Visual Servo Control. IEEE Trans. Biomed. Eng. 71(1): 77-88 (2024) - [j34]Zhiwei Cui, Yisen Huang, Weibing Li, Philip Wai Yan Chiu, Zheng Li:
Noise-Resistant Adaptive Gain Recurrent Neural Network for Visual Tracking of Redundant Flexible Endoscope Robot With Time-Varying State Variable Constraints. IEEE Trans. Ind. Electron. 71(3): 2694-2704 (2024) - 2023
- [j33]Disheng Xie, Yujie Su, Xiaolu Li, Jingxun Chen, Xiangqian Shi, Dezhi Liang, Joanne Yip, Jianbin Liu, Zheng Li, Raymond Kai-Yu Tong:
Fluid-Driven High-Performance Bionic Artificial Muscle with Adjustable Muscle Architecture. Adv. Intell. Syst. 5(6) (2023) - [j32]Jian Li, Yisen Huang, Xue Zhang, Ke Xie, Yitian Xian, Xiao Luo, Philip Wai Yan Chiu, Zheng Li:
An Autonomous Surgical Instrument Tracking Framework With a Binocular Camera for a Robotic Flexible Laparoscope. IEEE Robotics Autom. Lett. 8(7): 4291-4298 (2023) - [j31]Jing Shu, Junming Wang, Kenneth Chik-Chi Cheng, Ling-Fung Yeung, Zheng Li, Raymond Kai-Yu Tong:
An End-to-End Dynamic Posture Perception Method for Soft Actuators Based on Distributed Thin Flexible Porous Piezoresistive Sensors. Sensors 23(13): 6189 (2023) - [j30]Yitian Xian, Xue Zhang, Xiao Luo, Jixiu Li, Limin Zou, Ke Xie, Jian Li, Yehui Li, Yisen Huang, Danny Tat Ming Chan, David Yuen Chung Chan, Zheng Li:
A Semi-Autonomous Stereotactic Brain Biopsy Robotic System With Enhanced Surgical Safety and Surgeon-Robot Collaboration. IEEE Trans. Biomed. Eng. 70(12): 3288-3299 (2023) - [j29]Weibing Li, Philip Wai Yan Chiu, Zheng Li:
A Novel Neural Approach to Infinity-Norm Joint-Velocity Minimization of Kinematically Redundant Robots Under Joint Limits. IEEE Trans. Neural Networks Learn. Syst. 34(1): 409-420 (2023) - [j28]Zhiwei Cui, Yehui Li, Weibing Li, Jixiu Li, Philip Wai Yan Chiu, Zheng Li:
Hybrid Vision/Magnetic-Force Finite-Time Convergent Neural Network Tracking Control of Electromagnetically Actuated Soft-Tethered Colonoscope Robot With Current Constraints. IEEE Trans. Syst. Man Cybern. Syst. 53(10): 6080-6093 (2023) - [c31]Junming Wang, Jing Shu, Zheng Li, Raymond Kai-Yu Tong:
Combating Sensor Drift with an LSTM Neural Network Enhanced by Autoencoder Preprocessing. SENSORS 2023: 1-4 - 2022
- [j27]Qiyang Zuo, Yaohui Xu, Fengran Xie, Haitao Fang, Kai He, Yong Zhong, Zheng Li:
Dynamic Modeling of a Novel Kind of Rigid-Soft Coupling Biomimetic Robotic Fish. J. Intell. Robotic Syst. 105(2): 41 (2022) - [j26]Yingbai Hu, Jian Li, Yongquan Chen, Qiwen Wang, Chuliang Chi, Heng Zhang, Qing Gao, Yuanmin Lan, Zheng Li, Zonggao Mu, Zhenglong Sun, Alois C. Knoll:
Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling. IEEE Robotics Autom. Lett. 7(2): 1856-1863 (2022) - [j25]Yisen Huang, Jian Li, Xue Zhang, Ke Xie, Jixiu Li, Yue Liu, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
A Surgeon Preference-Guided Autonomous Instrument Tracking Method With a Robotic Flexible Endoscope Based on dVRK Platform. IEEE Robotics Autom. Lett. 7(2): 2250-2257 (2022) - [j24]Weibing Li, Wing Yin Ng, Xue Zhang, Yisen Huang, Yehui Li, Chengzhi Song, Philip Wai Yan Chiu, Zheng Li:
A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype. IEEE Robotics Autom. Lett. 7(4): 8885-8892 (2022) - [j23]Yongquan Chen, Qiwen Wang, Chuliang Chi, Chengjiang Wang, Qing Gao, Heng Zhang, Zheng Li, Zonggao Mu, Ruihuan Xu, Zhenglong Sun, Huihuan Qian:
A collaborative robot for COVID-19 oropharyngeal swabbing. Robotics Auton. Syst. 148: 103917 (2022) - [j22]Jing Shu, Junming Wang, Sanders Cheuk Yin Lau, Yujie Su, Kelvin Ho Lam Heung, Xiangqian Shi, Zheng Li, Raymond Kai-Yu Tong:
Soft Robots' Dynamic Posture Perception Using Kirigami-Inspired Flexible Sensors with Porous Structures and Long Short-Term Memory (LSTM) Neural Networks. Sensors 22(20): 7705 (2022) - [j21]Zhi Qiang Tang, HoLam Heung, Xiang Qian Shi, Kai-Yu Tong, Zheng Li:
Probabilistic Model-Based Learning Control of a Soft Pneumatic Glove for Hand Rehabilitation. IEEE Trans. Biomed. Eng. 69(2): 1016-1028 (2022) - [j20]Zhiwei Cui, Weibing Li, Xue Zhang, Philip Wai Yan Chiu, Zheng Li:
Accelerated Dual Neural Network Controller for Visual Servoing of Flexible Endoscopic Robot With Tracking Error, Joint Motion, and RCM Constraints. IEEE Trans. Ind. Electron. 69(9): 9246-9257 (2022) - [j19]Olatunji Mumini Omisore, Shipeng Han, Jing Xiong, Hui Li, Zheng Li, Lei Wang:
A Review on Flexible Robotic Systems for Minimally Invasive Surgery. IEEE Trans. Syst. Man Cybern. Syst. 52(1): 631-644 (2022) - [j18]Zonggao Mu, Yongquan Chen, Zheng Li, Huihuan Qian, Ning Ding:
A Spatial Biarc Method for Inverse Kinematics and Configuration Planning of Concentric Cable-Driven Manipulators. IEEE Trans. Syst. Man Cybern. Syst. 52(7): 4177-4186 (2022) - [c30]Wenci Xin, Wing Yin Ng, Flippy Tianle Pan, Yehui Li, Philip Wai Yan Chiu, Zheng Li:
Reinforcement learning based CPG controller for a soft gastropod robot and its gaits comparison study. BioRob 2022: 1-8 - [c29]Jing Shu, Junming Wang, Yujie Su, Honghai Liu, Zheng Li, Raymond Kai-Yu Tong:
An End-to-end Posture Perception Method for Soft Bending Actuators Based on Kirigami-inspired Piezoresistive Sensors. BSN 2022: 1-5 - [c28]Chang Qiu Zhou, Xiang Qian Shi, Zheng Li, Kai-Yu Tong:
3D Printed Soft Robotic Hand Combining Post-Stroke Rehabilitation and Stiffness Evaluation. ICIRA (3) 2022: 13-23 - [c27]Jian Li, Xue Zhang, Yisen Huang, Xiao Luo, Ke Xie, Yitian Xian, Philip Waiyan Chiu, Zheng Li:
3D Visual Servo Control of a Flexible Endoscope with RCM Constraint. ICIRA (4) 2022: 53-63 - [c26]Jixiu Li, Tao Zhang, Truman Cheng, Yehui Li, Heng Zhang, Yisen Huang, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Design and Analysis of a Long-range Magnetic Actuated and Guided Endoscope for Uniport VATS. ICRA 2022: 7650-7656 - [c25]Jixiu Li, Yisen Huang, Wing Yin Ng, Truman Cheng, Xixin Wu, Qi Dou, Helen Meng, Pheng-Ann Heng, Yunhui Liu, Shannon Melissa Chan, David Navarro-Alarcon, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Speech-Vision Based Multi-Modal AI Control of a Magnetic Anchored and Actuated Endoscope. ROBIO 2022: 403-408 - [c24]Yehui Li, Wing Yin Ng, Yisen Huang, Yuqi Jiang, Yitian Xian, Wenci Xin, Philip Wai Yan Chiu, Zheng Li:
Towards Semi-Autonomous Manipulation of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on Visual Servo Control. ROBIO 2022: 2075-2080 - 2021
- [j17]Zhi Qiang Tang, HoLam Heung, Kai-Yu Tong, Zheng Li:
Model-based online learning and adaptive control for a "human-wearable soft robot" integrated system. Int. J. Robotics Res. 40(1) (2021) - [j16]Fengran Xie, Qiyang Zuo, Qinglong Chen, Haitao Fang, Kai He, Ruxu Du, Yong Zhong, Zheng Li:
Designs of the Biomimetic Robotic Fishes Performing Body and/or Caudal Fin (BCF) Swimming Locomotion: A Review. J. Intell. Robotic Syst. 102(1): 13 (2021) - [j15]Truman Cheng, Weibing Li, Wing Yin Ng, Yisen Huang, Jixiu Li, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Deep Learning Assisted Robotic Magnetic Anchored and Guided Endoscope for Real-Time Instrument Tracking. IEEE Robotics Autom. Lett. 6(2): 3979-3986 (2021) - [c23]Yehui Li, Weibing Li, Wenci Xin, Xue Zhang, Yitian Xian, Philip Wai Yan Chiu, Zheng Li:
Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model. ICRA 2021: 1191-1197 - [c22]Wenci Xin, Flippy Tianle Pan, Yehui Li, Philip Wai Yan Chiu, Zheng Li:
Design and Modeling of a Biomimetic Gastropod-like Soft Robot with Wet Adhesive Locomotion. ICRA 2021: 11997-12003 - [c21]Xue Zhang, Weibing Li, Wing Yin Ng, Yisen Huang, Yitian Xian, Philip Wai Yan Chiu, Zheng Li:
An Autonomous Robotic Flexible Endoscope System with a DNA-inspired Continuum Mechanism. ICRA 2021: 12055-12060 - [c20]Heng Zhang, Qiwen Wang, Chuliang Chi, Yongquan Chen, Zonggao Mu, Zheng Li, Yuanmin Lan, Aidong Zhang:
Design and Implementation of a Novel, Intrinsically Safe Rigid-Flexible Coupling Manipulator for COVID-19 Oropharyngeal Swab Sampling. ICRA 2021: 12282-12288 - [c19]Xue Zhang, Yitian Xian, Jian Li, Philip Wai Yan Chiu, Zheng Li:
Configuration, Layout, and Pose Optimization of Surgical Robotic System. M2VIP 2021: 766-770 - [i1]Yingbai Hu, Jian Li, Yongquan Chen, Qiwen Wang, Chuliang Chi, Heng Zhang, Qing Gao, Yuanmin Lan, Zheng Li, Zonggao Mu, Zhenglong Sun, Alois C. Knoll:
Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling. CoRR abs/2102.12726 (2021) - 2020
- [j14]Fengran Xie, Zheng Li, Yang Ding, Yong Zhong, Ruxu Du:
An Experimental Study on the Fish Body Flapping Patterns by Using a Biomimetic Robot Fish. IEEE Robotics Autom. Lett. 5(1): 64-71 (2020) - [j13]Xin Ma, Chengzhi Song, Philip Wai Yan Chiu, Zheng Li:
Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vincix Research Kit (dVRK) System. IEEE Robotics Autom. Lett. 5(2): 820-827 (2020) - [j12]Xue Zhang, Weibing Li, Philip Wai Yan Chiu, Zheng Li:
A Novel Flexible Robotic Endoscope With Constrained Tendon-Driven Continuum Mechanism. IEEE Robotics Autom. Lett. 5(2): 1366-1372 (2020) - [j11]Minxin Ye, Weibing Li, Danny Tat-Ming Chan, Philip Wai Yan Chiu, Zheng Li:
A Semi-Autonomous Stereotactic Brain Biopsy Robot With Enhanced Safety. IEEE Robotics Autom. Lett. 5(2): 1405-1412 (2020) - [j10]Zhi Qiang Tang, HoLam Heung, Kai-Yu Tong, Zheng Li:
A Probabilistic Model-Based Online Learning Optimal Control Algorithm for Soft Pneumatic Actuators. IEEE Robotics Autom. Lett. 5(2): 1437-1444 (2020) - [j9]Weibing Li, Chengzhi Song, Zheng Li:
An Accelerated Recurrent Neural Network for Visual Servo Control of a Robotic Flexible Endoscope With Joint Limit Constraint. IEEE Trans. Ind. Electron. 67(12): 10787-10797 (2020) - [j8]Weibing Li, Philip Wai Yan Chiu, Zheng Li:
An Accelerated Finite-Time Convergent Neural Network for Visual Servoing of a Flexible Surgical Endoscope With Physical and RCM Constraints. IEEE Trans. Neural Networks Learn. Syst. 31(12): 5272-5284 (2020) - [c18]Wenci Xin, Flippy Tianle Pan, Yehui Li, Philip Wai Yan Chiu, Zheng Li:
A Novel Biomimic Soft Snail Robot Aiming for Gastrointestinal (GI) Tract Inspection. BioRob 2020: 1049-1054 - [c17]Long Qian, Chengzhi Song, Yiwei Jiang, Qi Luo, Xin Ma, Philip Waiyan Chiu, Zheng Li, Peter Kazanzides:
FlexiVision: Teleporting the Surgeon's Eyes via Robotic Flexible Endoscope and Head-Mounted Display. IROS 2020: 3281-3287 - [c16]Imran Mohsin, Kai He, Zhao Wenliang, Zheng Li:
Robotic Polishing of the Thin Plate Eyeglasses frame Under Effective Path Planning and Stable Force. RCAR 2020: 540-543
2010 – 2019
- 2019
- [j7]Zonggao Mu, Peng Wang, Zheng Li, Wenfu Xu:
A Biarc Method for Kinematics and Configuration Planning of Concentric Wire-Driven Manipulators. IEEE Access 7: 151439-151448 (2019) - [j6]Xin Ma, Chengzhi Song, Philip Wai Yan Chiu, Zheng Li:
Autonomous Flexible Endoscope for Minimally Invasive Surgery With Enhanced Safety. IEEE Robotics Autom. Lett. 4(3): 2607-2613 (2019) - [j5]Truman Cheng, Weibing Li, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Visual Servo Control of a Novel Magnetic Actuated Endoscope for Uniportal Video-Assisted Thoracic Surgery. IEEE Robotics Autom. Lett. 4(3): 3098-3105 (2019) - [j4]Xin Ma, Peng Wang, Minxin Ye, Philip Wai Yan Chiu, Zheng Li:
Shared Autonomy of a Flexible Manipulator in Constrained Endoluminal Surgical Tasks. IEEE Robotics Autom. Lett. 4(3): 3106-3112 (2019) - [c15]Kelvin H. L. Heung, Zhi Qiang Tang, Leo Ho, Macro Tung, Zheng Li, Raymond K. Y. Tong:
Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance. ICORR 2019: 65-70 - [c14]Zhi Qiang Tang, HoLam Heung, Kai-Yu Tong, Zheng Li:
A Novel Iterative Learning Model Predictive Control Method for Soft Bending Actuators. ICRA 2019: 4004-4010 - 2018
- [j3]Truman Cheng, Xue Zhang, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Design and Evaluation of a Soft-Bodied Magnetic Anchored and Guided Endoscope. J. Medical Robotics Res. 3(3-4): 1841007:1-1841007:12 (2018) - [c13]Trivoramai Jiralerspong, Kelvin H. L. Heung, Raymond K. Y. Tong, Zheng Li:
A Novel Soft Robotic Glove for Daily Life Assistance. BioRob 2018: 671-676 - [c12]Truman Cheng, Xue Zhang, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
A Novel Magnetic Anchored and Steered Camera Robot for Single Port Access Surgery. ICRA 2018: 1406-1412 - [c11]Xue Zhang, Tianle Pan, HoLam Heung, Philip Wai Yan Chiu, Zheng Li:
A Biomimetic Soft Robot for Inspecting Pipeline with Significant Diameter Variation. IROS 2018: 7486-7491 - 2017
- [j2]Han Yuan, Philip Wai Yan Chiu, Zheng Li:
Shape-Reconstruction-Based Force Sensing Method for Continuum Surgical Robots With Large Deformation. IEEE Robotics Autom. Lett. 2(4): 1972-1979 (2017) - [j1]Yanjie Chen, Wenjun Xu, Zheng Li, Shuang Song, Chwee Ming Lim, Yaonan Wang, Hongliang Ren:
Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamics. IEEE Trans. Control. Syst. Technol. 25(5): 1711-1723 (2017) - [c10]Truman Cheng, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Zheng Li:
Design and prototyping of a soft magnetic anchored and guidance endoscope system. IROS 2017: 2902-2908 - 2016
- [c9]Zheng Li, Chengzhi Song, Hongmin Wang:
Design and prototyping of a concentric wire-driven manipulator. BioRob 2016: 213 - [c8]Zheng Li, Philip W. Y. Chiu, Ruxu Du:
Design and kinematic modeling of a concentric wire-driven mechanism targeted for minimally invasive surgery. IROS 2016: 310-316 - [c7]Han Yuan, Zheng Li, Hongmin Wang, Chengzhi Song:
Static modeling and analysis of continuum surgical robots. ROBIO 2016: 265-270 - [c6]HoLam Heung, Philip W. Y. Chiu, Zheng Li:
Design and prototyping of a soft earthworm-like robot targeted for GI tract inspection. ROBIO 2016: 497-502 - 2015
- [c5]Jan Feiling, Zheng Li, Haoyong Yu, Hongliang Ren:
Optimal teleoperation control of a constrained tendon-driven serpentine manipulator. CCECE 2015: 418-423 - [c4]Zheng Li, Haoyong Yu, Hongliang Ren, Philip W. Y. Chiu, Ruxu Du:
A novel constrained tendon-driven serpentine manipulator. IROS 2015: 5966-5971 - [c3]Yanjie Chen, Zheng Li, Wenjun Xu, Yaonan Wang, Hongliang Ren:
Minimum sweeping area motion planning for flexible serpentine surgical manipulator with kinematic constraints. IROS 2015: 6348-6353 - [c2]Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu:
A novel tele-operated flexible surgical arm with optimal trajectory tracking aiming for minimally invasive neurosurgery. RAM/CIS 2015: CIS:239-244 - 2014
- [c1]Zheng Li, Ruxu Du, Haoyong Yu, Hongliang Ren:
Statics modeling of an underactuated wire-driven flexible robotic arm. BioRob 2014: 326-331
Coauthor Index
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