Design and Control of a Piezo Drill for Robotic Piezo-Driven Cell Penetration. - Changsheng Dai; Yu Sun 001; Liming Xin; Zhuoran Zhang 001; Guanqiao Shan; Tiancong Wang; Kaiwen Zhang 005; Xian Wang 001; Lap-Tak Chu; Changhai Ru (IEEE Robotics Autom. Lett., 2020)