A Compact 2-DOF Cross-Scale Piezoelectric Robotic Manipulator with Adjustable Force for Biological Delicate Puncture
IEEE TRANSACTIONS ON ROBOTICS（2024）
Key words
Robots,Force,Shafts,2-DOF,Organisms,Needles,Robot kinematics,2-DOF cross-scale,biological micropuncture,collaborative manipulation,piezoelectric robotic manipulator (PERM)
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