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Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues 会议论文
Proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018, Stuttgart, Germany, November 20-22, 2018
Authors:  Yang TW(杨唐文);  Xiao, Lifang;  Chen PF(陈盼飞);  Zhu, Haifeng;  Zhao XG(赵新刚);  Song GL(宋国立);  Han JD(韩建达);  Xu WL(徐卫良)
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robotic needle insertion  force feedback control  wavelet transform  boundaries identification  layered tissue  
Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model 会议论文
Communications in Computer and Information Science, Beijing, China, November 19, 2016 - November 23, 2016
Authors:  Yang TW(杨唐文);  Qin Y(秦勇);  Han JD(韩建达)
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Flexible Robotic Arm  Lumped Dynamic Model  Vibration Control  Wave Absorption  
Impedance control of a robot needle with a fiber optic force sensor 会议论文
2016 IEEE 13th International Conference on Signal Processing (ICSP), Chengdu, China, November 6-10, 2016
Authors:  Xiao, Lifang;  Yang TW(杨唐文);  Huo BY(霍本岩);  Zhao XG(赵新刚);  Han JD(韩建达);  Xu WL(徐卫良)
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Robotic Needle  Impedance Control  Fiber Optic Force Sensor  Temperature Compensation  
穿刺针尖光纤力传感信号的小波变换分析 期刊论文
光学精密工程, 2015, 卷号: 23, 期号: 8, 页码: 2149-2157
Authors:  杨唐文;  陈盼飞;  韩建达;  徐卫良
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光纤力传感器  针穿刺  Mallat算法  分层软组织  边界界定  小波变换  
移动双臂机械手系统协调操作的视觉伺服技术 期刊论文
控制理论与应用, 2015, 卷号: 32, 期号: 1, 页码: 69-74
Authors:  杨唐文;  高立宁;  阮秋琦;  韩建达
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移动双臂机械手系统  视觉伺服  协调操作  Hsv空间  不变矩  
Identification of tissue types and boundaries with a fiber optic force sensor 期刊论文
Science China Information Sciences, 2014, 卷号: 57, 期号: 2, 页码: 1-7
Authors:  Yang TW(杨唐文);  Zhu, Haifeng;  Han JD(韩建达);  Zhao XG(赵新刚);  Xu WL(徐卫良)
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Fiber Optic Force Sensor  Needle Puncture  Layered Tissue  Identification Of Tissue Types And Boundaries  Wavelet Transform  
Wave-based tracking control of a flexible arm using lumped model 会议论文
Advances in Intelligent Systems and Computing, Beijing, China, November 6-8, 2014
Authors:  Yang TW(杨唐文);  Han JD(韩建达);  Qin Y(秦勇)
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Flexible Robotic Arm  Lumped Model  Tracking Control  Wave Absorption  
移动双臂机器人协调操作的视觉伺服控制 会议论文
Proceedings of the 33rd Chinese Control Conference, Nanjing, China, July 28-30, 2014
Authors:  杨唐文;  高立宁;  阮秋琦;  韩建达
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移动双臂机器人  视觉伺服控制  协调操作  Hsv空间  不变矩  
Interaction modeling and simulation of a flexible needle insertion into soft tissues 会议论文
Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, Munich, Germany, June 2－3, 2014
Authors:  Yang TW(杨唐文);  Yin, Hang;  Zhao XG(赵新刚);  Han JD(韩建达);  Xu WL(徐卫良)
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Flexible Needle  Soft Tissue  Interaction Modelling  Fem Simulation  
机器人辅助针穿刺技术 期刊论文
科学通报, 2013, 卷号: 58, 期号: S2, 页码: 20-27
Authors:  赵新刚;  杨唐文;  韩建达;  徐卫良
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机器人辅助穿刺  建模与规划  导航与控制  刚性针  柔性针