{"id":"https://openalex.org/W4380318419","doi":"https://doi.org/10.1109/tase.2023.3282974","title":"Task Space Compliant Control and Six-Dimensional Force Regulation Toward Automated Robotic Ultrasound Imaging","display_name":"Task Space Compliant Control and Six-Dimensional Force Regulation Toward Automated Robotic Ultrasound Imaging","publication_year":2023,"publication_date":"2023-06-12","ids":{"openalex":"https://openalex.org/W4380318419","doi":"https://doi.org/10.1109/tase.2023.3282974"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3282974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3282974","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040445618","display_name":"Junchen Wang","orcid":"https://orcid.org/0000-0002-0916-9932"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junchen Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053893227","display_name":"Chunheng Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunheng Lu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103905369","display_name":"Yifei Lv","orcid":"https://orcid.org/0000-0002-8211-4372"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifei Lv","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113238146","display_name":"Siqin Yang","orcid":"https://orcid.org/0000-0002-3859-0769"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqin Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037027459","display_name":"Mingbo Zhang","orcid":"https://orcid.org/0000-0002-7990-3493"},"institutions":[{"id":"https://openalex.org/I2802939634","display_name":"Chinese PLA General Hospital","ror":"https://ror.org/04gw3ra78","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802939634"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingbo Zhang","raw_affiliation_strings":["First Medical Center, General Hospital of Chinese PLA, Beijing, China"],"affiliations":[{"raw_affiliation_string":"First Medical Center, General Hospital of Chinese PLA, Beijing, China","institution_ids":["https://openalex.org/I2802939634"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101785613","display_name":"Yu Shen","orcid":"https://orcid.org/0000-0001-9360-9138"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Shen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5040445618"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.2392,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87560371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"3652","last_page":"3663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9725000262260437,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5419107675552368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5104683637619019},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5024781227111816},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4842645525932312},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4731025695800781},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47217077016830444},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4492012858390808},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42130881547927856},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38165611028671265},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3719795048236847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2501567602157593},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24567076563835144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20637798309326172},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1544603407382965},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10668712854385376},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08559754490852356}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5419107675552368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5104683637619019},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5024781227111816},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4842645525932312},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4731025695800781},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47217077016830444},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4492012858390808},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42130881547927856},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38165611028671265},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3719795048236847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2501567602157593},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24567076563835144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20637798309326172},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1544603407382965},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10668712854385376},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08559754490852356},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3282974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3282974","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G3142851423","display_name":null,"funder_award_id":"U22A2051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3145335387","display_name":null,"funder_award_id":"82071924","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3449229960","display_name":null,"funder_award_id":"62173014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4747192066","display_name":null,"funder_award_id":"L222105","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1976912497","https://openalex.org/W2027661541","https://openalex.org/W2065676327","https://openalex.org/W2143920784","https://openalex.org/W2144294016","https://openalex.org/W2159721734","https://openalex.org/W2503967141","https://openalex.org/W2526570224","https://openalex.org/W2586099419","https://openalex.org/W2771354076","https://openalex.org/W2793224505","https://openalex.org/W2893379190","https://openalex.org/W2932459557","https://openalex.org/W2953943807","https://openalex.org/W2993611986","https://openalex.org/W3003175584","https://openalex.org/W3012780255","https://openalex.org/W3043316223","https://openalex.org/W3082132120","https://openalex.org/W3090509004","https://openalex.org/W3094155404","https://openalex.org/W3099763198","https://openalex.org/W3125472763","https://openalex.org/W3130510843","https://openalex.org/W3135545534","https://openalex.org/W3145467992","https://openalex.org/W3157010837","https://openalex.org/W3157380428","https://openalex.org/W3171622331","https://openalex.org/W3186292497","https://openalex.org/W3213118596","https://openalex.org/W4200470402","https://openalex.org/W4223955136","https://openalex.org/W4225960034","https://openalex.org/W4282921429","https://openalex.org/W4298128249","https://openalex.org/W4317438579","https://openalex.org/W4360993143"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2391000165","https://openalex.org/W2801692647"],"abstract_inverted_index":{"<italic":[0,49,139,233,266],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[1,50,140,234,267],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Objective:</i>":[2],"We":[3,496],"propose":[4],"a":[5,28,213,217,263,376,423,440,506],"general":[6,425],"control":[7,45,58,99,147,176,244,249,334,412,431,446,481],"framework":[8,26,148],"for":[9,130,284,501],"task":[10,72,88],"space":[11,41,73,89,110,467],"compliant":[12,37,90,159,254,404,430,462],"motion":[13,38,106,463],"and":[14,42,92,111,127,174,186,259,287,321,344,407,432,457,468,479],"six-dimensional":[15,409],"(6-D)":[16,410],"force":[17,44,95,173,248,359,411,434],"regulation":[18,435],"towards":[19],"automated":[20,207,280,305],"robotic":[21,30,208,306,395,415,442,502],"ultrasound":[22,281],"(US)":[23,282],"imaging.":[24],"The":[25,118,155,170,189,325],"endows":[27],"position-controlled":[29,441],"manipulator":[31],"with":[32,70,436],"the":[33,128,131,145,153,194,226,240,243,276,315,322,328,333,338,341,345,348,363,367,381,390,452,491,499],"capability":[34],"of":[35,121,158,229,242,253,279,327,340,347,362,392,454],"accurate":[36,43,93,408,437],"in":[39,46,61,108,115,167,178,216,360,369,397,465,472,505],"free":[40,109,168,466],"motion-constrained":[47,116,473],"environment.":[48,117,474],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Methods:</i>":[51],"An":[52],"intuitive":[53],"six":[54,385],"degree-of-freedom":[55,386],"(6-DoF)":[56,387],"admittance":[57],"model":[59,120,196],"expressed":[60],"an":[62,206],"arbitrary":[63],"Cartesian":[64],"body":[65],"frame":[66],"is":[67,83,101,125,135,330,374,448,494],"mathematically":[68],"derived":[69],"closed-form":[71],"error":[74,157],"mapping.":[75],"Its":[76],"practical":[77],"implementation":[78],"on":[79,144,212,262,355,413,439],"widely-used":[80],"collaborative":[81,394],"manipulators":[82],"proposed":[84,146,231,449],"to":[85,103,151,224,269,336,379,384,401,427,450,460],"achieve":[86,104,428,461],"full":[87],"behaviors":[91],"6-D":[94,433],"control.":[96],"A":[97,444],"hybrid":[98,445],"law":[100,335,447],"presented":[102],"good":[105],"accuracy":[107,177,252,464],"improved":[112,132,190,256,469],"coupled":[113,119,133,191,257,470],"stability":[114,134,192,471],"physical":[122,312],"human-robot":[123,202],"interaction":[124,203,313,329],"established":[126],"reason":[129],"analyzed":[136],"through":[137],"simulation.":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Results:</i>":[141],"Evaluation":[142],"experiments":[143],"were":[149],"performed":[150],"show":[152,225],"effectiveness.":[154],"mean":[156,171],"trajectory":[160,405],"following":[161,406],"was":[162,182,198,221,273],"less":[163],"than":[164,184],"0.30":[165],"mm":[166],"space.":[169],"relative":[172],"moment":[175],"three":[179],"orthogonal":[180],"directions":[181],"better":[183],"0.5%":[185],"0.8%,":[187],"respectively.":[188],"under":[193],"same":[195],"parameters":[197],"also":[199],"confirmed":[200],"by":[201,275,332],"experiments.":[204],"Finally,":[205],"US":[209,299,309,319,342,503],"imaging":[210,310,504],"experiment":[211],"human":[214,264,323],"volunteer":[215],"real":[218,507],"clinical":[219,508],"scenario":[220],"carried":[222],"out":[223],"potential":[227],"application":[228,500],"our":[230],"framework.":[232],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Conclusion:</i>":[235],"Experimental":[236],"results":[237],"have":[238,353,497],"shown":[239],"advantages":[241],"framework,":[245],"including":[246],"satisfied":[247],"accuracy,":[250],"high":[251],"motion,":[255],"stability,":[258],"system":[260],"effectiveness":[261],"volunteer.":[265],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[268],"Practitioners</i>":[270],"\u2014This":[271],"paper":[272,421],"motivated":[274],"increasing":[277],"needs":[278],"scanning":[283,492],"both":[285],"diagnostic":[286,298],"interventional":[288],"purpose.":[289],"Clinical":[290],"sonographers":[291],"suffer":[292],"from":[293,304],"repeated":[294],"workload":[295],"when":[296],"performing":[297],"imaging,":[300],"which":[301],"could":[302],"benefit":[303],"scanning.":[307],"Robotic":[308],"involves":[311],"between":[314],"robot":[316],"end-effector":[317],"(i.e.,":[318],"transducer)":[320],"body.":[324],"dynamics":[326],"regulated":[331],"guarantee":[337],"contact":[339,358],"transducer":[343],"safety":[346],"procedure.":[349],"Most":[350],"existing":[351],"works":[352],"focused":[354],"regulating":[356],"in-plane":[357],"terms":[361],"position":[364],"without":[365],"considering":[366],"compliance":[368,383],"other":[370],"dimensions.":[371],"However,":[372],"it":[373],"not":[375],"trivial":[377],"work":[378],"extend":[380],"positional":[382],"compliance.":[388],"As":[389],"prevalence":[391],"low-cost":[393],"arms":[396,416],"medical":[398],"scenarios,":[399],"how":[400],"perform":[402],"6-DoF":[403,429],"these":[414],"becomes":[417],"increasingly":[418],"important.":[419],"This":[420],"gives":[422],"complete":[424],"solution":[426],"kinematics":[438],"arm.":[443],"switch":[451],"government":[453],"\u201cinstantaneous":[455],"model\u201d":[456,459],"\u201ctheoretical":[458],"No":[475],"expensive":[476],"torque":[477,480],"sensors":[478],"interface":[482],"are":[483],"required.":[484],"And":[485],"no":[486],"prior":[487],"geometric":[488],"knowledge":[489],"about":[490],"object":[493],"needed.":[495],"demonstrated":[498],"scenario.":[509]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}