A General Huber Function Based Compliant Control Method for the Cooperative Puncture Surgery. - Zheng Liu 020; Qianlin Dai; Shuang Wang 007; Le Xie 002 (ROBIO, 2023)

Biomechanics-Based Collaborative Manipulation Method for an Ultrasound-Guided Puncture Robot. - Zheng Liu 020; Shuang Wang 007; Qianlin Dai; Zhenggang Cao; Li Lin; Le Xie 002 (IEEE Trans. Syst. Man Cybern. Syst., 2025)