Articles | Volume 13, issue 1
Mech. Sci., 13, 559–575, 2022
Mech. Sci., 13, 559–575, 2022
Research article
20 Jun 2022
Research article | 20 Jun 2022

Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system

Zhanxin Xie and Zheng Yan

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
Design and kinematic analysis of a multifold rib modular deployable antenna mechanism
Dake Tian, Haiming Gao, Lu Jin, Rongqiang Liu, Yu Zhang, Chuang Shi, and Jiewei Xu
Mech. Sci., 13, 519–533,,, 2022
Short summary
Design of a transrectal ultrasonic guided prostate low dose rate brachytherapy robot
Xuesong Dai, Yongde Zhang, Jingang Jiang, Bing Li, and Sihao Zuo
Mech. Sci., 13, 399–409,,, 2022
Short summary
A passive upper-limb exoskeleton for industrial application based on pneumatic artificial muscles
Maria Paterna, Stefania Magnetti Gisolo, Carlo De Benedictis, Giovanni Gerardo Muscolo, and Carlo Ferraresi
Mech. Sci., 13, 387–398,,, 2022
Short summary
Innovative design method for planar mechanism configuration based on component similarity discrimination
Weiwei Hong, Jinxi Chen, Bingliang Ye, and Rongjiang Cui
Mech. Sci., 13, 353–359,,, 2022
Short summary
Design and test of a positioning system for a greenhouse electric micro-tiller based on ultra-wideband
Ying Lin, Qian Chen, Haijun Zhang, Ye Ma, Wenlian Zeng, Guojun Wei, Hongxiang Wang, and Maohua Xiao
Mech. Sci., 13, 225–237,,, 2022
Short summary

Cited articles

Abbas, M., Al Issa, S., and Dwivedy, S. K.: Event-triggered adaptive hybrid position-force control for robot-assisted ultrasonic examination system, J. Intell. Robot. Syst., 102, 1–19, 2021. 
Cao, H., He, Y., Chen, X., and Zhao, X.: Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments, Industrial Robot, 47, 231–242,, 2020. 
Chatelain, P., Krupa, A., and Navab, N.: Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization, 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, 3441–3446,, 2016. 
Chaudhary, H., Panwar, V., Prasad, R., and Sukavanam, N.: Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator, J. Intell. Manuf., 27, 1299–1308, 2016. 
Fang, T.-Y., Zhang, H. K., Finocchi, R., Taylor, R. H., and Boctor, E. M.: Force-assisted ultrasound imaging system through dual force sensing and admittance robot control, Int. J. Comput. Ass. Rad., 12, 983–991, 2017. 
Short summary
Robotic ultrasonic scanning needs to apply an appropriate force for a long time during the acquisition process. Excessive contact force may lead to deformation and even hurt the patient, while insufficient force would lead to poor image quality. We proposed a varying rate hybrid position–impedance control strategy, which can partly play the role of an ultrasound sonographer and serve as a medical assistant to reduce their workload.