杜付鑫｜山东大学｜学者主页

2026

Offline Pose Generation and Multi-Objective Hole-Sequence Optimization for Five-Axis Multi-Hole Drilling on Complex Surfaces: A Numerical Framework

Nanxiang Li, Lixuan Peng, Chao Chen, Xinqi Yang, Fuxin Du

Machines

DOI

2026

State-Switching kinematics of notched continuum robots

Han Zeng, Yang Pan, Hangxing Wei, Jiazheng Du, Jing Su, Junyan Yan, Rui Song, Fuxin Du

Mechanism and Machine Theory

DOI

2026

Weld-FHG-YOLO: A Lightweight Multi-Frequency Feature Fusion Network for Weld Keypoint Localization

Yunsong Yan, Meng Xiaoning, Wei Liu, Hougao Wang, Haiyang Liu, Chao Chen, Fuxin Du

Machines

DOI

2026

StripePoint-YOLO: Task-Adaptive Detection of Multi-Type Weld Seam Keypoints in Noisy Industrial Welding Scenes

Mingyue Yang, Shizhen Li, Xiaoyan Sun, Hougao Wang, Ang Gao, Fuxin Du, Chao Chen

Sensors

DOI

2026

Research on the Butting Parameter Measurement Method of Large Diameter pipeline Based on Two-Laser Ranging

Xuecheng Luan, Hanwen Yu, Yanli Shu, Mingxuan He, Yandong Liu, Fuxin Du, Ying Zhang

International Journal of Precision Engineering and Manufacturing

DOI

2026

A new perspective on coupling: Taking the composite continuum robot as an example

Hangxing Wei, Yuhang Wang, Zhenzhen Zhang, Han Zeng, Jing Su, Fuxin Du, Rui Song, Yibin Li

Nonlinear Dynamics

DOI

2026

Nonlinear kinematic modeling and remote center of motion optimization of flexible surgical robots

Tichong Zhang, Jiazheng Du, Fuxin Du, Guoliang Li, Rui Song

Nonlinear Dynamics

DOI

2026

Real-Time Lightweight Weld Seam Keypoint Detection and Tracking via an Improved SimCC with a Unified Three-Keypoint Formulation

Shenkuo Wang, Xiangjie Huang, Ang Gao, Chao Chen, Fuxin Du

Sensors

DOI

2026

Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions

Haiming Li, Peiyuan Gao, Haoyue Tan, Haotian Li, Hao Zhu, Mengyuan Jiang, Yuting Ni, Yandi He, Junhong Huang, Yue Zhu, Jie Yang, Ce Wang, B Q Liu, Fuxin Du, Yanhe Zhu, Huijuan Dong, H ZHANG, Tianxue Zhang, Huan Jia, H Wu, Jie Zhao

Nature Communications

DOI

2026

A general modular framework for modeling cable-driven continuum surgical robots

Gang Zhang, Junyan Yan, Fuxin Du, Jibiao Chen, Rui Song, Shing Shin Cheng

International Journal of Mechanical Sciences

DOI

2026

PE-YOLO: An efficient segmentation algorithm for surgical instruments in percutaneous spinal endoscopic surgery

Guoliang Li, Yibin Li, Yuechong Zhang, Qianqian Li, Fuxin Du, Rui Song, Lei Qi, Haiying Liu, Lixia Deng

Biomedical Signal Processing and Control

DOI

2026

Leveraging coupled motion for high-resolution manipulation of concentric tube robots in surgical procedures

Yao Wang, Gang Zhang, Peng Zhang, Tianxiang Liu, Hangxing Wei, Fuxin Du, Yibin Li, Rui Song

Nonlinear Dynamics

DOI

2026

Stiffness Optimisation and Kinematics Modelling of a Cable‐Stayed Flexible Manipulator for Endoscopic Surgery

Yanqiang Lei, Fuxin Du, Wenbo Zheng, Liping Zhang

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2026

Multimode Composite Continuum Robot: Coupled Static Modeling and Verification

Jing Su, Hangxing Wei, Fuxin Du, Han Zeng, Changwei Yin, Rui Song, Yibin Li

IEEE/ASME Transactions on Mechatronics

DOI

2026

Model-Based Data-Driven Kinematic Modeling of Concentric Tube Robots With Enhanced Accuracy and Physical Consistency

Yao Wang, Han Zeng, Fuxin Du, Yibin Li, Rui Song

IEEE Transactions on Automation Science and Engineering

DOI

2025

连续体机器人通用实验平台的设计与应用

杜付鑫，崔维一，程天宇，张钢

《实验技术与管理》

2025

基于视觉纠偏的原油储罐浮船板焊接机器人研究

李翊，刘杰，刘长沙，杜付鑫，浦健民

《化工自动化及仪表》

DOI

2025

Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction

Yao Wang, Fuxin Du, Gang Zhang, Peng Zhang, Tianxiang Liu, Yibin Li, Rui Song

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2025

Radial Basis Function Neural Network-Based Adaptive Trajectory Tracking Control for Continuum Robots

Fuxin Du, Zhongtao Liu, Weikai He, Changwei Yin, Yang Zhang, Rui Song

Lecture notes in computer science

DOI

2025

Dynamic Velocity Vector-Based Artificial Potential Field Path Planning Algorithm DVV-APF

Fukang Su, Haining Lu, Fuxin Du, Sun Ye, Chao Chen, Yibin Li

International Conference on Robotics, Control and Automation Engineering (RCAE)

DOI

2025

WeldLight: A Lightweight Weld Classification and Feature Point Extraction Model for Weld Seam Tracking

Ang Gao, Anning Li, Fukang Su, Xinqi Yang, Wenping Liu, Fuxin Du, Chao Chen

Sensors

DOI

2025

A Deep Learning Modeling Method for the Identification of Robot Curtain Wall Assembly State

Huayan Sun, Xudong Ding, Fengming Li, Fuxin Du, Rui Song

IEEE Robotics and Automation Letters

DOI

2025

Magnetic continuum robot: Design, modeling and verification

Tianxiang Liu, Gang Zhang, Fuxin Du, Xingyao Zhang, Chao He, Yibin Li, Rui Song

International Journal of Mechanical Sciences

DOI

2025

Concentric tube robot: a real-time static model considering friction

Gang Zhang, Kunhao Xu, Fuxin Du, Peng Zhang, Yibin Li, Rui Song

Engineering With Computers

DOI

2025

General kinematics model and algorithm for three continuum surgical robots

Jing Su, Hangxing Wei, Yuhang Wang, Han Zeng, Jiazheng Du, Fuxin Du, Rui Song

IEEE International Conference on Real-time Computing and Robotics (RCAR)

DOI

2025

A Hybrid Continuum Manipulator for Minimally Invasive Surgery: Design, Modeling, and Validation

Gang Zhang, Fuxin Du, Peng Qi, Han Zeng, Xingyao Zhang, Yibin Li, Rui Song

IEEE Transactions on Medical Robotics and Bionics

DOI

2025

Kinematic Modeling Method and Efficient Algorithm for the Coupled Continuum Manipulator

Hangxing Wei, Zhaoru Jing, Min Wan, Ziyue Hei, Yibin Li, Fuxin Du

DOI

2025

Robust Continuous Sliding-Mode-Based Assistive Torque Control for Series Elastic Actuator-Driven Hip Exoskeleton

Rui Wang, Xiaoou Lin, Changwei Yin, Zhongtao Liu, Yang Zhang, Wenping Liu, Fuxin Du

Actuators

DOI

2025

Static Modeling of Composite Continuum Robot Considering Coupling Effect

Jing Su, Tao Gao, Zejia Lin, Yulu Luo, Rui Song, Fuxin Du

Journal of Physics Conference Series

DOI

2025

Stiffness evaluation of continuum robots based on the energy method and castigliano’s second theorem

Mengxue Yang, Zhicheng An, Zejia Lin, Yuhang Wang, Tongtao Pang, Fuxin Du

Frontiers in Robotics and AI

DOI

2025

Robust Continuous Sliding Mode Torque Tracking Control for Compliant Actuators With Prescribed Performance

Xiaoou Lin, Fuxin Du, Jianping Song, Changwei Yin, Yang Zhang, Yibin Li

International Journal of Control Automation and Systems

DOI

2025

Dual-channel disturbance rejection control for flexible-joint robots with prescribed performance constraint

Fuxin Du, Changwei Yin, Jilai Wang, Chao Chen, Haokun Geng, Yang Zhang, Menghua Zhang, Rui Song

Nonlinear Dynamics

DOI

2024

一种新型双臂协作消化道手术机器人的结构设计与运动学分析

王盛松，张涛，程天宇，苏静，杜付鑫

《机械工程师》

2024

一种丝鞘机构的长距离摩擦损失分析

王盛松，张涛，程天宇，苏静，杜付鑫

《机械工程师》

2024

Human–robot collaborative handling of curtain walls using dynamic motion primitives and real-time human intention recognition

Fengming Li, Huayan Sun, Enguang Liu, Fuxin Du

Biomimetic Intelligence and Robotics

DOI

2024

Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery

Yanqiang Lei, Fuxin Du, Huajian Song, Liping Zhang

Biomimetic Intelligence and Robotics

DOI

2024

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Chao Chen, Fuxin Du, Bin Chen, Detong Chen, Weikai He, Qiang Chen, Cheng-Xi Zhang, Jin Wu, Ji-He Wang

Symmetry

DOI

2024

Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements

Yang Zhang, Meng-Hua Zhang, Fuxin Du

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2024

Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation

Xingyao Zhang, Fuxin Du, Gang Zhang, Ke Wu, Gang Zheng, Yibin Li, Rui Song

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2024

A Sensor-Free Force Estimation Method for Notched Continuum Surgical Robot

Fuxin Du, Xingyao Zhang, Ke Wu, Gang Zhang, Gang Zheng, Yibin Li, Rui Song

IEEE/ASME Transactions on Mechatronics

DOI

2024

Robust Command-Filtered Control of Compliant Actuator-Driven Robotic Manipulators by Employing Beneficial Disturbances

Yang Zhang, Fuxin Du, Changwei Yin, Menghua Zhang, Rui Song, Yibin Li

DOI

2024

Flexible assembly strategy of curtain wall based on admittance control

Huayan Sun, Fengming Li, Enguang Liu, Fuxin Du, Rui Song

DOI

2024

Unknown System Dynamics Estimator-Based Composite Anti-Saturation Control Method for Series Elastic Actuators

Yang Zhang, Fuxin Du, Changwei Yin, Menghua Zhang, Chao Chen, Yibin Li, Rui Song

IEEE Transactions on Industrial Electronics

DOI

2024

Continuum Robots: A Real-Time Model-Based Data-Driven Nonlinear Controller

Gang Zhang, Fuxin Du, Xingyao Zhang, Ke Wu, Gang Zheng, Yibin Li, Rui Song

IEEE Transactions on Industrial Electronics

DOI

2024

Composite continuum robots: Accurate modeling and model reduction

Gang Zhang, Jing Su, Fuxin Du, Xingyao Zhang, Yibin Li, Rui Song

International Journal of Mechanical Sciences

DOI

2024

Robust dynamic surface control of series elastic actuators based on reduced-order extended state observer

Changwei Yin, Fuxin Du, Yang Zhang, Chao Chen, Rui Song, Yibin Li

Journal of Vibration and Control

DOI

2024

A millipede-inspired miniature self-moving ultrasonic actuator with high carrying capability and nanometer resolution

Lipeng Wang, Xiang Li, Jiang Wu, Zhaochun Ding, Fuxin Du, Xuewen Rong, Rui Song, Yibin Li

International Journal of Mechanical Sciences

DOI

2024

Dexterity Assessment for Wrist Joints of Surgical Robots: A Statics-Based Evaluation Method

Hangxing Wei, Gang Zhang, Fuxin Du, Jing Su, Jiang Wu, Yibin Li, Rui Song

IEEE Transactions on Instrumentation and Measurement

DOI

2023

脊柱手术机器人研究进展

杜付鑫，张体冲，李倩倩，宋锐

《山东大学学报(医学版)》

2023

Compound continuum manipulator for surgery: Efficient static‐based kinematics

Jing Su, Gang Zhang, Hangxing Wei, Rui Song, Fuxin Du

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2023

Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought

Hangxing Wei, Gang Zhang, Shengsong Wang, Peng Zhang, Jing Su, Fuxin Du

Sensors

DOI

2023

A Static Model of a Notched Continuum Robot with Non-Constant Curvature for Minimally Invasive Surgery: Base on Taylor Expansion Approach

Xingyao Zhang, Gang Zhang, Tichong Zhang, Fuxin Du, Rui Song, Yibin Li

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2023

Structure Design and Kinematics Analysis of a Laparoscopic Surgery Robot with 7-DOF

Shukai Song, Fuxin Du, Rongyu Ge, Ge Rong-Zhe

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2023

YOLO-Weld: A Modified YOLOv5-Based Weld Feature Detection Network for Extreme Weld Noise

Ang Gao, Zhuoxuan Fan, Anning Li, Qiaoyue Le, Dongting Wu, Fuxin Du

Sensors

DOI

2023

Design and simulation of robot gripper for gripping special workpieces

Kaixuan Qi, Anzhen Huang, Xuan Sun, Fuxin Du

International Conference on Mechanical Design and Simulation (MDS)

DOI

2023

Continuum robots: Developing dexterity evaluation algorithms using efficient inverse kinematics

Fuxin Du, Gang Zhang, Yanjie Xu, Yanqiang Lei, Rui Song, Yibin Li

Measurement

DOI

2023

Dexterity enhancement of continuum robot for natural orifice transluminal endoscopic surgery in the dual‐manipulator collaborative space

Tianyu Cheng, Gang Zhang, Jianjun Sun, Tao Zhang, Fuxin Du

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2023

Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion

Tianxiang Liu, Gang Zhang, Peng Zhang, Tianyu Cheng, Zijie Luo, Shengsong Wang, Fuxin Du

Sensors

DOI

2023

A two-DOF linear ultrasonic motor utilizing the actuating approach of longitudinal-traveling-wave/bending-standing-wave hybrid excitation

Jiang Wu, Lipeng Wang, Fuxin Du, Guoteng Zhang, Jianye Niu, Xuewen Rong, Rui Song, Huijuan Dong, Jie Zhao, Yibin Li

International Journal of Mechanical Sciences

DOI

2023

Robust Command-Filtered Control With Prescribed Performance for Flexible-Joint Robots

Yang Zhang, Yanqiang Lei, Tichong Zhang, Rui Song, Yibin Li, Fuxin Du

IEEE Transactions on Instrumentation and Measurement

DOI

2023

Design and Modeling of Multi-vertebrae Continuum Robot for Minimally Invasive Surgery

Tichong Zhang, Gang Zhang, Xingyao Zhang, Fuxin Du, Rui Song

Procedia Computer Science

DOI

2022

Miniature Manipulator Design and Cartesian Control for Minimally Invasive Transluminal Endoscopic Surgery

Yanqiang Lei, Yibin Li, Xingyao Zhang, Gang Zhang, Fuxin Du

Micromachines

DOI

2022

Curvature Correction of a Notched Continuum Robot Based on a Static Model Considering Large Deformation and Friction Effect

Jiaxing Liu, Sibo Shang, Gang Zhang, Shaowei Xue, Hao Cheng, Peng Qi, Fuxin Du

Machines

DOI

2022

Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical

Gang Zhang, Fuxin Du, Jing Su, Tao Zhang, Yanqiang Lei, Rui Song, Yibin Li

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2022

Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery

Gang Zhang, Fuxin Du, Shaowei Xue, Hao Cheng, Xingyao Zhang, Rui Song, Yibin Li

Machines

DOI

2022

Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Yanqiang Lei, Yibin Li, Rui Song, Dechen Wang, Tao Zhang, Gang Zhang, Fuxin Du

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2022

Effect of arc voltage on process stability of bypass-coupling twin-wire indirect arc welding

Dongting Wu, Zhibin Zhang, Fuxin Du, Yong Zou

International Journal of Modern Physics B

DOI

2022

Automated Vein Segmentation from NIR Images Using a Mixer-UNet Model

Jiarui Ji, Yibo Zhao, Tenghui Xie, Fuxin Du, Peng Qi

Lecture notes in computer science

DOI

2022

Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery

Gang Zhang, Hangxing Wei, Peng Qi, Honghui Wang, Hao Cheng, Fuxin Du

Lecture notes in computer science

DOI

2022

Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance

Yibo Zhao, Jiarui Ji, Tenghui Xie, Fuxin Du, Peng Qi

Lecture notes in computer science

DOI

2022

Application of Feedforward-Cascade Control in an External Pulling Robot for Nerve Restoration

Hongrui Fu, Gang Zhang, Han Zeng, Fuxin Du, Rui Song

Lecture notes in computer science

DOI

2021

一种位姿解耦的主操作手结构设计与优化方法

王得晨，杜付鑫，屈梁成，类延强，王继来，李取浩

《哈尔滨工业大学学报》

2021

基于主成分分析-孪生支持向量机的工业系统故障监测

朱振杰，杜付鑫，杨旺功

《济南大学学报(自然科学版)》

DOI

2021

基于快速选区卷积神经网络模型的工业产品表面缺陷检测

李馥颖，朱振杰，杜付鑫

《济南大学学报(自然科学版)》

DOI

2021

Microstructure and corrosion resistance of stainless steel produced by bypass coupling twin-wire indirect arc additive manufacturing

Dongting Wu, Qi An, Fuxin Du, Kenji Matsuda, Yihu Tang, Yong Zou

The International Journal of Advanced Manufacturing Technology

DOI

2021

Optimized configuration of the joint stiffness for a dual differential feed system

Zhaoguo Wang, Xianying Feng, Fuxin Du, Hui Li, Zhe Su, Huawei Jin

Journal of the Brazilian Society of Mechanical Sciences and Engineering

DOI

2021

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Yanqiang Lei, Yibin Li, Rui Song, Fuxin Du

International Journal of Medical Robotics and Computer Assisted Surgery

DOI

2021

Vibration of rotating circular cylindrical shells with distributed springs

Fuchun Yang, Xiaofeng Jiang, Fuxin Du

Journal of Mechanics

DOI

2021

Analysis of Dynamic Friction and Elongation Characteristics of the Tendon Sheath System

Tao Zhang, Mingyue Liu, Yanqiang Lei, Fuxin Du, Rui Song, Yibin Li

Lecture notes in computer science

DOI

2020

一种丝驱连续体手术机械臂的设计及其运动学分析

卢佳佳，冯显英，杜付鑫，岳明君，屈梁成

《机电工程》

2020

基于Gabor小波变换和多核支持向量机的电梯导靴故障诊断方法

朱晓玲，李琨，张长胜，杜付鑫

《计算机科学》

2020

A novel inverse kinematics algorithm using the Kepler oval for continuum robots

Jiajia Lu, Fuxin Du, Yibin Li, Yanqiang Lei, Tao Zhang, Gang Zhang

Applied Mathematical Modelling

DOI

2020

Kinematic modeling of a class of n-tendon continuum manipulators

Jiajia Lu, Fuxin Du, Fuchun Yang, Tao Zhang, Yanqiang Lei, Jianjun Wang

Advanced Robotics

DOI

2020

An Efficient Inverse Kinematics Algorithm for Continuum Robot with a Translational Base

Jiajia Lu, Fuxin Du, Tao Zhang, Dechen Wang, Yanqiang Lei

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

DOI

2020

Design and implementation of speed fluctuation reduction for a ball screw feed system at low-speed operation

Zhaoguo Wang, Xianying Feng, Fuxin Du, Hui Li, Zhe Su

Mechanical sciences

DOI

2020

A review on vibration analysis and control of machine tool feed drive systems

Haojin Yang, Zihao Wang, Tao Zhang, Fuxin Du

The International Journal of Advanced Manufacturing Technology

DOI

2019

基于变电站巡检机器人的紫外电晕检测系统及检测方法研究

李淑颖，杜付鑫

《机电信息》

2019

基于BP神经网络的机床热误差建模与分析

辛宗霈，冯显英，杜付鑫，李慧，李沛刚

《组合机床与自动化加工技术》

2019

基于有限元的双轴差速系统实验台模态分析

杜付鑫，李慧，冯显英，李沛刚，岳明君

《实验室研究与探索》

2019

Thermal error modelling for a high-precision feed system in varying conditions based on an improved Elman network

Haojin Yang, Renpeng Xing, Fuxin Du

The International Journal of Advanced Manufacturing Technology

DOI

2019

A novel method for smooth low-speed operation of linear feed systems

Zhaoguo Wang, Xianying Feng, Fuxin Du, Hui Li, Zhe Su

Precision Engineering

DOI

2019

Free vibration of circular cylindrical shells with discrete circumferential stiffnesses

Fuchun Yang, Fuxin Du

International Journal of Mechanical Sciences

DOI

2018

基于Ritz级数双驱动系统动态特性分析

孙德鹏，李沛刚，冯显英，岳明君，杜付鑫

《组合机床与自动化加工技术》

2018

基于改进差分进化算法的伺服驱动系统摩擦参数辨识研究

张名扬，冯显英，李沛刚，岳明君，杜付鑫

《组合机床与自动化加工技术》

2018

Dynamic modeling and analysis of the nut-direct drive system

Zhaoguo Wang, Xianying Feng, Peigang Li, Fuxin Du

Advances in Mechanical Engineering

DOI

2018

Cross-coupled intelligent control for a novel two-axis differential micro-feed system

Fuxin Du, Xianying Feng, Peigang Li, Jiawei Wang, Zhaoguo Wang, Yu Chen

Advances in Mechanical Engineering

DOI

2018

Identification and compensation of friction for a novel two-axis differential micro-feed system

Fuxin Du, Mingyang Zhang, Zhaoguo Wang, Yu Chen, Xianying Feng, Peigang Li

Mechanical Systems and Signal Processing

DOI

2018

Modeling and Analysis for a Novel Dual-axis Differential Micro-feed System

Fuxin Du

Journal of Mechanical Engineering

DOI

2017

Modeling, identification and analysis of a novel two-axis differential micro-feed system

Fuxin Du, Peigang Li, Zhaoguo Wang, Yue Mingjun, Xianying Feng

Precision Engineering

DOI

2016

Design and power flow analysis for multi-speed automatic transmission with hybrid gear trains

Fuchun Yang, J. Feng, Fuxin Du

International Journal of Automotive Technology

DOI

2016

Design of a new planetary gear powertrain for vessel combined power

Fuchun Yang, Fuxin Du

Advances in engineering research/Advances in Engineering Research

DOI

2013

基于最小二乘法的轮胎动平衡测试标定方法

杜付鑫，李慧，冯显英，杨静芳

《机电一体化》

精选作品

期刊论文

Offline Pose Generation and Multi-Objective Hole-Sequence Optimization for Five-Axis Multi-Hole Drilling on Complex Surfaces: A Numerical Framework

State-Switching kinematics of notched continuum robots

Weld-FHG-YOLO: A Lightweight Multi-Frequency Feature Fusion Network for Weld Keypoint Localization

StripePoint-YOLO: Task-Adaptive Detection of Multi-Type Weld Seam Keypoints in Noisy Industrial Welding Scenes

Research on the Butting Parameter Measurement Method of Large Diameter pipeline Based on Two-Laser Ranging

A new perspective on coupling: Taking the composite continuum robot as an example

Nonlinear kinematic modeling and remote center of motion optimization of flexible surgical robots

Real-Time Lightweight Weld Seam Keypoint Detection and Tracking via an Improved SimCC with a Unified Three-Keypoint Formulation

Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions

A general modular framework for modeling cable-driven continuum surgical robots

PE-YOLO: An efficient segmentation algorithm for surgical instruments in percutaneous spinal endoscopic surgery

Leveraging coupled motion for high-resolution manipulation of concentric tube robots in surgical procedures

Stiffness Optimisation and Kinematics Modelling of a Cable‐Stayed Flexible Manipulator for Endoscopic Surgery

Multimode Composite Continuum Robot: Coupled Static Modeling and Verification

Model-Based Data-Driven Kinematic Modeling of Concentric Tube Robots With Enhanced Accuracy and Physical Consistency

连续体机器人通用实验平台的设计与应用

基于视觉纠偏的原油储罐浮船板焊接机器人研究

Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction

Radial Basis Function Neural Network-Based Adaptive Trajectory Tracking Control for Continuum Robots

Dynamic Velocity Vector-Based Artificial Potential Field Path Planning Algorithm DVV-APF

WeldLight: A Lightweight Weld Classification and Feature Point Extraction Model for Weld Seam Tracking

A Deep Learning Modeling Method for the Identification of Robot Curtain Wall Assembly State

Magnetic continuum robot: Design, modeling and verification

Concentric tube robot: a real-time static model considering friction

General kinematics model and algorithm for three continuum surgical robots

A Hybrid Continuum Manipulator for Minimally Invasive Surgery: Design, Modeling, and Validation

Kinematic Modeling Method and Efficient Algorithm for the Coupled Continuum Manipulator

Robust Continuous Sliding-Mode-Based Assistive Torque Control for Series Elastic Actuator-Driven Hip Exoskeleton

Static Modeling of Composite Continuum Robot Considering Coupling Effect

Stiffness evaluation of continuum robots based on the energy method and castigliano’s second theorem

Robust Continuous Sliding Mode Torque Tracking Control for Compliant Actuators With Prescribed Performance

Dual-channel disturbance rejection control for flexible-joint robots with prescribed performance constraint

一种新型双臂协作消化道手术机器人的结构设计与运动学分析

一种丝鞘机构的长距离摩擦损失分析

Human–robot collaborative handling of curtain walls using dynamic motion primitives and real-time human intention recognition

Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements

Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation

A Sensor-Free Force Estimation Method for Notched Continuum Surgical Robot

Robust Command-Filtered Control of Compliant Actuator-Driven Robotic Manipulators by Employing Beneficial Disturbances

Flexible assembly strategy of curtain wall based on admittance control

Unknown System Dynamics Estimator-Based Composite Anti-Saturation Control Method for Series Elastic Actuators

Continuum Robots: A Real-Time Model-Based Data-Driven Nonlinear Controller

Composite continuum robots: Accurate modeling and model reduction

Robust dynamic surface control of series elastic actuators based on reduced-order extended state observer

A millipede-inspired miniature self-moving ultrasonic actuator with high carrying capability and nanometer resolution

Dexterity Assessment for Wrist Joints of Surgical Robots: A Statics-Based Evaluation Method

脊柱手术机器人研究进展

Compound continuum manipulator for surgery: Efficient static‐based kinematics

Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought

A Static Model of a Notched Continuum Robot with Non-Constant Curvature for Minimally Invasive Surgery: Base on Taylor Expansion Approach

Structure Design and Kinematics Analysis of a Laparoscopic Surgery Robot with 7-DOF

YOLO-Weld: A Modified YOLOv5-Based Weld Feature Detection Network for Extreme Weld Noise

Design and simulation of robot gripper for gripping special workpieces

Continuum robots: Developing dexterity evaluation algorithms using efficient inverse kinematics

Dexterity enhancement of continuum robot for natural orifice transluminal endoscopic surgery in the dual‐manipulator collaborative space

Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion

A two-DOF linear ultrasonic motor utilizing the actuating approach of longitudinal-traveling-wave/bending-standing-wave hybrid excitation

Robust Command-Filtered Control With Prescribed Performance for Flexible-Joint Robots

Design and Modeling of Multi-vertebrae Continuum Robot for Minimally Invasive Surgery

Miniature Manipulator Design and Cartesian Control for Minimally Invasive Transluminal Endoscopic Surgery

Curvature Correction of a Notched Continuum Robot Based on a Static Model Considering Large Deformation and Friction Effect

Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical

Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery

Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Effect of arc voltage on process stability of bypass-coupling twin-wire indirect arc welding

Automated Vein Segmentation from NIR Images Using a Mixer-UNet Model

Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery

Vessel Site Selection for Autonomous Cannulation Under NIR Image Guidance

Application of Feedforward-Cascade Control in an External Pulling Robot for Nerve Restoration

一种位姿解耦的主操作手结构设计与优化方法

基于主成分分析-孪生支持向量机的工业系统故障监测

基于快速选区卷积神经网络模型的工业产品表面缺陷检测

Microstructure and corrosion resistance of stainless steel produced by bypass coupling twin-wire indirect arc additive manufacturing

Optimized configuration of the joint stiffness for a dual differential feed system

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Vibration of rotating circular cylindrical shells with distributed springs