Impact of the pectoral fin geometry on the gliding performance of flying fish robot
September 2026
Flying fish, as a quintessential cross-medium species, are well known for their exceptional underwater swimming and water–air transition capabilities. However, their aerial gliding kinematics — particularly...
Optimization-based shape design of soft-rigid hybrid fingers for adaptive parallel robotic gripper
September 2026
Parallel robotic gripper is an efficient tool for grasping and manipulating objects in industrial applications. In recent years, to enable adaptive grasping of objects with complex shapes, many parallel...
Underwater ecological assessment via intelligent monitoring robot based on semi-supervised semantic segmentation
September 2026
Efficient and accurate underwater target recognition is crucial for assessing the stability of marine ecosystems. However, traditional manual diving surveys are costly, time-consuming and limited in...
Validation of a thoraco-abdominal motion phantom for robotic surgery’s respiration tracking study
June 2026
Respiratory motion, as a dominant biological factor, imposes two primary challenges in radiotherapy: firstly, ensuring accurate spatial targeting of the tumor volume, and secondly, constraining radiation...
Design and validation of a quasi-passive knee exoskeleton with clutched elastic actuators for human walking assistance
June 2026
Human legs exhibit spring-like behavior during the walking stance phase, motivating the development of lightweight passive lower extremity exoskeletons with elastic energy storage. While such designs...
MOSformer: Momentum encoder-based inter-slice fusion transformer for medical image segmentation
June 2026
Medical image segmentation takes an important position in various clinical applications. 2.5D-based segmentation models bridge the computational efficiency of 2D-based models with the spatial perception...
Coupled dynamic modeling, identification and experimental validation of a hydraulically driven soft robotic arm
June 2026
Unlocking the high-performance potential of Hydraulically-Driven Soft Robotic Arms (HDSRAs) requires computationally tractable dynamic models that are both physically faithful and rigorously validated,...
Robotic fish with tunable stiffness soft tail based on bionic spinal muscle system
June 2026
Changes in muscle state in vertebrates directly influence their movement properties, offering inspiration for research on bionic robotic fish. This paper presents an untethered robotic fish equipped...
A multi-task framework based on SDA–LSTM fusion network for gait phase recognition and gait cycle percentage progression prediction by IMU for forward walking
June 2026
Accurate recognition of gait phases and reliable prediction of gait cycles are critical for adaptive exoskeleton control. Although these two tasks are inherently coupled in both temporal and spatial...
Towards Industry 5.0: Emerging trends in dual-arm human–robot collaboration
June 2026
As industry transitions from the Industry 4.0 paradigm to the human-centered vision of Industry 5.0, robots are evolving from mere automation tools into intelligent partners capable of close collaboration...
Reducing user training burden for myoelectric prosthetic hand control with CNN–LDA temporal-spectral transfer learning
June 2026
Modern myoelectric prosthetic hands continue to face reliability challenges due to the non-stationarities of surface electromyography (sEMG) signals, which are highly sensitive to limb positions, electrode...
Deep reinforcement learning-based dynamic path planning of flexible needle in robotic puncturing
June 2026
Flexible needle puncture path planning in surgical robots faces significant challenges, such as limited adaptability to multi-objective environments and poor real-time performance. These issues affect...
Multimodal wearable sensors-driven KsFormer model for continuous multi-step ahead prediction of lower limb joint moments and ground reaction forces
June 2026
Accurate real-time prediction of lower limb biomechanics is critical for enhancing assistive robotic control systems. While machine learning approaches have emerged as computationally efficient alternatives...
DHT_xLSTM: A hybrid temporal-mapping framework for skill-oriented grasp prediction in teleoperated robots via dual-quaternion control and context-aware learning
June 2026
This paper presents a unified teleoperation framework for heterogeneous master–slave robotic systems, integrating geometric mapping with learning-based temporal modeling to enable skillful and adaptive...
Inverse kinematics and redundancy resolution in manipulators: Methods, optimization objectives, and future trends
June 2026
Redundant manipulators possess additional degrees of freedom that enable superior dexterity, adaptability, and fault tolerance in complex environments. However, this redundancy also introduces challenges...
A comprehensive review of performance evaluation metrics and state-of-the-art advances in lower-limb exoskeletons
June 2026
Lower limb exoskeleton technology has emerged as pivotal equipment in three key domains: medical rehabilitation, industrial assistance, and human performance augmentation. The systematization and standardization...
MCVP: Multi-channel viewpoint planner for efficient exploration and mapping of complex 3D environments
June 2026
Autonomous exploration in complex 3D environments is a key issue in robotics, where current approaches often demonstrate limited efficiency and excessive path backtracking. To mitigate backtracking...
Humanoid robot running through random stepping stones and jumping over obstacles: Step adaptation using spring-mass trajectories
June 2026
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library...
MetaPose: A meta-learned framework with dual-branch frequency-aware network for fast and accurate 2D/3D image registration
Available online 3 June 2026
During pelvic fracture reduction surgery, fast and accurate 2D/3D image registration is of great clinical importance for intraoperative navigation and bone fragment reduction. However, conventional...
Multi-goal dexterous hand manipulation using probabilistic model-based reinforcement learning
Available online 3 June 2026
This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control...
Adaptive robust control for a parallel orthopedic rehabilitation robot with guaranteed healing-safety
Available online 3 June 2026
In orthopedic rehabilitation, ensuring both safety and precision of the mechanical stimulation is paramount for effective bone healing. This study proposes a safety-guaranteed control strategy for a...
A B-spline based trajectory generation and optimization approach of a tendon-driven aerial grasper with logarithmic spiral grippers
Available online 23 May 2026
This paper improves the structure of a four-finger tendon-driven aerial grasper (TAG) and proposes an effective grasping and delivering strategy. Oriented by grasping tasks, four logarithmic spiral-based...
RT-K: A key point-aware transformer framework for efficient vision-language robot control
Available online 20 May 2026
While Vision Language Models (VLMs) offer transformative potential for adaptive robot decision-making, their practical deployment is severely hindered by a critical mismatch between high computational...
A robust agricultural LiDAR-inertial SLAM system with heterogeneous registration and neural noise adaptation
Available online 30 April 2026
To address the challenges of unstructured terrain, repetitive geometric structures, and significant inertial disturbances in agricultural environments, this paper proposes a robust LiDAR-inertial simultaneous...
Model-based gait planning rather than gait rewards: An enhanced reinforcement learning for bipedal locomotion over challenging terrains
Available online 30 April 2026
Model-free Reinforcement Learning (RL) typically relies on reward functions to develop robotic behavior; however, fine-tuning reward coefficients is often time-consuming and requires repeated adjustments,...
