Zixiao Chen

• University of Auckland

Remote Actuation Mechanisms (RAMs) play a vital role in minimally invasive surgery (MIS) by providing motion capabilities within limited spaces. This paper first focused on analyzing commonly employed RAMs to understand their strengths and limitations. Then, drawing inspiration from bionics and the biological structure of scorpions, we proposed a n...

This paper presents a control strategy to carry out multi-object manipulation on a novel s oft r o botic ta ble (SoTa), which is a new form of the planar distributed manipulator. Manipulating multiple delicate objects simultaneously is an attractive feature of SoTa. The challenge here is to coordinate multiple objects in a confined planar spac...

In this article, the development of a control framework for a soft robotic table is presented. The framework aims to enable the soft table to effectively manipulate an object to track a reference trajectory. The table system has been modeled using empirical methods via experiments and finite-element analysis simulations. A closed-loop trajectory tr...

Manipulating soft materials with robots is a complex and highly interdisciplinary research topic. Due to the underlying body of involved theories including material science, (bio-)mechanics, control, sensing as well as electrical and mechanical engineering, it is even difficult to provide a comprehensive problem formulation. In this paper, the prob...