{"id":"https://openalex.org/W4402568737","doi":"https://doi.org/10.1109/tro.2024.3462932","title":"A Compact 2-DOF Cross-Scale Piezoelectric Robotic Manipulator With Adjustable Force for Biological Delicate Puncture","display_name":"A Compact 2-DOF Cross-Scale Piezoelectric Robotic Manipulator With Adjustable Force for Biological Delicate Puncture","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402568737","doi":"https://doi.org/10.1109/tro.2024.3462932"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3462932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3462932","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5049999335","display_name":"Xiang Gao","orcid":"https://orcid.org/0000-0003-2890-061X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiang Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079065776","display_name":"Jie Deng","orcid":"https://orcid.org/0000-0001-9544-3709"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9544-3709","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100656092","display_name":"Weiyi Wang","orcid":"https://orcid.org/0000-0003-3163-9491"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiyi Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014430345","display_name":"Qingbing Chang","orcid":"https://orcid.org/0000-0002-9151-8352"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingbing Chang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9151-8352","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072347742","display_name":"Jianhua Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Sun","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junkao Liu","orcid":"https://orcid.org/0000-0001-7799-6369"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junkao Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7799-6369","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015890924","display_name":"Shijing Zhang","orcid":"https://orcid.org/0000-0002-5792-0524"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijing Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5792-0524","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086700119","display_name":"Yingxiang Liu","orcid":"https://orcid.org/0000-0001-5684-9159"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxiang Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5684-9159","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5049999335"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":7.6965,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.98366057,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"4561","last_page":"4577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.951200008392334,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.951200008392334,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6605002880096436},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.533890426158905},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5120399594306946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48680517077445984},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.4841976463794708},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.48390230536460876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46702244877815247},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4569038450717926},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44951510429382324},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4298451244831085},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4248628616333008},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.371902197599411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3025239109992981},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20838209986686707},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1643373668193817},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12727460265159607},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07884484529495239}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6605002880096436},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.533890426158905},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5120399594306946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48680517077445984},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.4841976463794708},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.48390230536460876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46702244877815247},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4569038450717926},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44951510429382324},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4298451244831085},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4248628616333008},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.371902197599411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3025239109992981},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20838209986686707},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1643373668193817},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12727460265159607},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07884484529495239},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3462932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3462932","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2667379918","display_name":null,"funder_award_id":"52225501","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G572694705","display_name":null,"funder_award_id":"52105015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8672990925","display_name":null,"funder_award_id":"52375010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W184127182","https://openalex.org/W1490243558","https://openalex.org/W1948403275","https://openalex.org/W1964183212","https://openalex.org/W1964380955","https://openalex.org/W2007333437","https://openalex.org/W2015917649","https://openalex.org/W2038853452","https://openalex.org/W2045121907","https://openalex.org/W2062619165","https://openalex.org/W2145408377","https://openalex.org/W2169502883","https://openalex.org/W2410877323","https://openalex.org/W2464364296","https://openalex.org/W2607512581","https://openalex.org/W2617035740","https://openalex.org/W2624113365","https://openalex.org/W2741711368","https://openalex.org/W2884400986","https://openalex.org/W2888869816","https://openalex.org/W2902289341","https://openalex.org/W2969720556","https://openalex.org/W2970129718","https://openalex.org/W2970894191","https://openalex.org/W2982528182","https://openalex.org/W3011342320","https://openalex.org/W3016327299","https://openalex.org/W3036239370","https://openalex.org/W3043982061","https://openalex.org/W3126399584","https://openalex.org/W3134120415","https://openalex.org/W3153783884","https://openalex.org/W3189562855","https://openalex.org/W3195761417","https://openalex.org/W4205531163","https://openalex.org/W4206127222","https://openalex.org/W4210416428","https://openalex.org/W4226064762","https://openalex.org/W4237128362","https://openalex.org/W4285740584","https://openalex.org/W4289656549","https://openalex.org/W4292917237","https://openalex.org/W4295036269","https://openalex.org/W4296129511","https://openalex.org/W4313340138","https://openalex.org/W4318499512","https://openalex.org/W4318767401","https://openalex.org/W4328007241","https://openalex.org/W4366770027","https://openalex.org/W4380356475","https://openalex.org/W4386882993","https://openalex.org/W4388561253","https://openalex.org/W4388819589"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2648339586","https://openalex.org/W2724068543","https://openalex.org/W577644862","https://openalex.org/W2159353126","https://openalex.org/W4401027239"],"abstract_inverted_index":{"Robotic":[0],"micromanipulation":[1],"technology":[2],"plays":[3],"a":[4,16,42,79,86,95,142,149,188,198,218,232],"fundamental":[5],"supporting":[6],"role":[7],"in":[8,239],"biomedical":[9],"engineering":[10],"field.":[11],"However,":[12],"it":[13],"is":[14,140,146,153],"still":[15],"challenge":[17],"for":[18,27,59],"robotic":[19,81,150],"manipulators":[20],"to":[21,40,101,117,134,155,194],"meet":[22],"the":[23,75,119,136,166,205,226],"puncture":[24,53,108,129,189,210],"performance":[25],"requirements":[26],"complex":[28],"cells":[29],"and":[30,55,65,94,106,112,128,148,159,170,176,183,197,217,235,243],"curved":[31,219],"vessels":[32],"with":[33,214],"different":[34,215],"sizes,":[35],"because":[36],"they":[37],"are":[38,99,114],"difficult":[39],"achieve":[41,102],"comprehensive":[43],"characteristic":[44,157],"of":[45,61,78,121,173,180,201,211,225,241],"multi-DOF,":[46],"long":[47],"stroke,":[48],"high":[49,56],"displacement":[50,126,178],"resolution,":[51],"large":[52],"force,":[54,130],"force":[57,190,199],"resolution":[58,200],"limitations":[60],"structures,":[62],"driving":[63],"elements,":[64],"actuation":[66,97],"methods.":[67],"To":[68],"addresses":[69],"this":[70,72],"challenge,":[71],"article":[73,230],"proposes":[74],"conceptual":[76],"design":[77,92],"piezoelectric":[80,88,227],"manipulator":[82,167,206],"(PERM)":[83],"driven":[84],"by":[85],"single":[87],"actuator.":[89],"A":[90,138],"configuration":[91],"idea":[93],"new":[96],"method":[98],"elaborated":[100],"2-DOF":[103],"cross-scale":[104],"manipulation":[105,224],"adjustable":[107],"force.":[109],"Theoretical":[110],"analyses":[111],"simulations":[113],"carried":[115],"out":[116],"investigate":[118],"influence":[120],"key":[122],"structural":[123],"parameters":[124],"on":[125],"response":[127],"as":[131,133],"well":[132],"determine":[135],"parameters.":[137],"prototype":[139],"fabricated,":[141],"dedicated":[143],"handheld":[144],"controller":[145],"developed,":[147],"micropuncture":[151,240],"system":[152],"constructed":[154],"conduct":[156],"testing":[158],"application":[160],"research.":[161],"Experimental":[162],"results":[163],"reveal":[164],"that":[165],"achieves":[168],"linear":[169],"rotary":[171],"strokes":[172],"38.5":[174],"mm":[175],"360\u00b0,":[177],"resolutions":[179],"48":[181],"nm":[182],"0.38":[184],"<italic":[185],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[186],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u03bc</i>rad,":[187],"range":[191],"from":[192],"1.70":[193],"301.34":[195],"mN,":[196],"0.13":[202],"mN.":[203],"Additionally,":[204],"successfully":[207],"performs":[208],"delicate":[209],"silicone":[212,220],"capillaries":[213],"sizes":[216],"capillary":[221],"under":[222],"collaborative":[223],"platform.":[228],"This":[229],"exhibits":[231],"high-performance":[233],"PERM":[234],"verifies":[236],"its":[237],"feasibility":[238],"tiny":[242],"complex-shaped":[244],"organisms.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-10-10T00:00:00"}