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A human-robot collaboration method for uncertain surface scanning

Zhao, Guanyi; Zeng, Chao; Si, Weiyong; Yang, Chenguang

A human-robot collaboration method for uncertain surface scanning Thumbnail


Guanyi Zhao

Chao Zeng

Weiyong Si


Robots are increasingly expected to replace humans in many repetitive and high-precision tasks, of which surface scanning is a typical example. However, it is usually difficult for a robot to independently deal with a surface scanning task with uncertainties in, for example the irregular surface shapes and surface properties. Moreover, it usually requires surface modelling with additional sensors, which might be time-consuming and costly. A human-robot collaboration-based approach that allows a human user and a robot to assist each other in scanning uncertain surfaces with uniform properties, such as scanning human skin in ultrasound examination is proposed. In this approach, teleoperation is used to obtain the operator's intent while allowing the operator to operate remotely. After external force perception and friction estimation, the orientation of the robot end-effector can be autonomously adjusted to keep as perpendicular to the surface as possible. Force control enables the robotic manipulator to maintain a constant contact force with the surface. And hybrid force/motion control ensures that force, position, and pose can be regulated without interfering with each other while reducing the operator's workload. The proposed method is validated using the Elite robot to perform a mock B-ultrasound scanning experiment.


Zhao, G., Zeng, C., Si, W., & Yang, C. (in press). A human-robot collaboration method for uncertain surface scanning. CAAI Transactions on Intelligence Technology,

Journal Article Type Article
Acceptance Date Apr 5, 2023
Online Publication Date May 16, 2023
Deposit Date May 23, 2023
Publicly Available Date May 23, 2023
Journal CAAI Transactions on Intelligence Technology
Print ISSN 2468-2322
Electronic ISSN 2468-2322
Publisher Wiley Open Access
Peer Reviewed Peer Reviewed
Keywords medical applications, robotics
Public URL
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