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...
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...
Force-Aware Multimodal Imitation Learning: Transformer-driven CVAE for long-horizon contact-rich manipulation
Available online 23 April 2026
Accurately and safely performing long-horizon, contact-rich manipulation tasks remains a fundamental challenge in robotic imitation learning. We propose Force-Aware Multimodal Imitation Learning (FAMIL),...
Exploring the physical principles of cell collective behaviors using robot swarms
Available online 22 April 2026
The convergence of systems biology, mechanobiology, and artificial intelligence has driven increasing interest in understanding how physical mechanisms govern collective cellular behaviors during physiological...
VTLA: Vision-Tactile-Language-Action model with preference learning for insertion manipulation
Available online 17 April 2026
While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond...
D-RMGPT: Robot-assisted collaborative tasks driven by large multimodal models
Available online 17 April 2026
Collaborative robots are increasingly popular for assisting humans at work and daily tasks. However, designing and setting up interfaces for human–robot collaboration is challenging, requiring the integration...
Towards Industry 5.0: Emerging trends in dual-arm human–robot collaboration
Available online 10 April 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...
HDCAR: A 3D-2D registration network for abdominal aortic vessels based on CTA vessel models and DSA images
March 2026
Multimodal image registration is a crucial prerequisite for the automation and intelligence of interventional surgical medical robots. In endovascular aneurysm repair, due to limitations in imaging...
Large language model-based task planning for service robots: A review
March 2026
With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments....
Enhanced reasoning and task planning for surgical autonomy using multi-modal large language models with gradual learning
March 2026
Large language models (LLMs) have been widely adopted in robotic applications in recent years, but their ability in task planning of long-horizon and complex tasks remains a challenge. In this work,...
A feedforward tendon-elongation compensator for tendon-sheath mechanisms with arbitrary and time-varying transmission routes in three-dimensional space
March 2026
Tendon-sheath mechanisms (TSMs) are widely used for position transmission in robotic systems that require compactness and adaptability to complex environments. However, friction-induced tendon-elongation...
YOLO-FOA: A lightweight rotational target detection algorithm based on improved YOLO for optical fiber robot
March 2026
In fiber optic communication, as networks expand, precise detection and alignment of fiber optic adapters are crucial for enhancing system stability and transmission quality. Traditional target detection...
End-to-end replay-based trajectory planning for autonomous vehicles under multi-weather scenarios
March 2026
Autonomous driving systems face challenges from perception degradation and kinematic coupling in adverse weather. This paper introduces an end-to-end trajectory prediction framework integrating multi-weather...
Optimization-based automated generation of 1-DOF multi-section continuum robots with predefined end-effector poses
March 2026
Continuum robots have been widely utilized in various fields, such as medical surgery, industrial manufacturing, and aerospace, due to their flexibility and compliance. However, their high structural...
Design and testing of an orthopedic robot for deformity correction
March 2026
Deformity correction has positive significance for limb function reconstruction. To reduce the workload of the physicians and enhance the intelligence level of deformity correction, a wearable orthopedic...
A vision-based humanoid compliant skill transfer framework: Application to robotic cutting tasks
March 2026
Autonomously completing a contact-rich task for multiple manipulation objects remains a challenging problem for robots. To achieve this goal, learning from demonstration has emerged as an efficient...
Improved PRM algorithm based on dynamic partitioning and adaptive sampling
March 2026
The Probabilistic Roadmap (PRM) algorithm has been widely employed in robotic manipulator path planning tasks due to its rapid exploration capabilities, particularly in high-dimensional configuration...
Investigation of efficient creeping locomotion for snake-like robots with compliant passive joints
March 2026
Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints, which enable effective movement through constrained pathways. However, their...
A bio-inspired intestine robot utilizing soft origami Kresling structures to imitate peristaltic wave motion and transport
March 2026
This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal...
Trajectory tracking and jumping control of quadruped via phase-aware iLQR controller
March 2026
Jumping is a critical capability for quadruped robots, especially for navigating obstacles and gaps in complex environments. For successful jump, accurate trajectory tracking and robust feedback mechanism...