Wen-Hong Zhu

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In this paper, an adaptive motion/force controller is developed for unilateral or bilateral teleoperation systems. The method can be applied in both position and rate control modes, with arbitrary motion or force scaling. No acceleration measurements are required. Nonlinear rigid-body dynamics of the master and the slave robots are considered. A model of(More)
The goal of this project is to develop visual servoing for intraoperative robotic ultrasound. The doctor would select a predefined volume from a reference image such as CT or MRI which was obtained before the procedure. Subsequently the robot would image the patient with an ultrasound probe at the predefined volume of interest. This technique would allow(More)
Find the secret to improve the quality of life by reading this virtual decomposition control toward hyper degrees of freedom robots 1st edition. This is a kind of book that you need now. Besides, it can be your favorite book to read after having this book. Do you ask why? Well, this is a book that has different characteristic with others. You may not need(More)
This paper presents a systematic adaptive control strategy which can accomplish a variety of control objectives (position control, internal force control, constraints, and optimizations) for the generalized high-dimensional robotic systems (GHDRS) without restriction on target systems. Based on the concept of virtual decomposition by which a GHDRS is(More)
A systematic solution to precision control of modular robot manipulators without using joint torque sensing is presented in this paper for the first time. Using the virtual decomposition control (VDC) approach with embedded field programmable gate array (FPGA) logic devices, the proposed solution solves a long-standing problem of lacking control precision(More)
A four-channel control architecture has been suggested in the literature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition/rate mode. A(More)
A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. This paper presents key features of the user interface used in this system. While the ultrasound transducer is positioned by a robot, the operator, the robot controller, and an ultrasound image processor have shared control over its motion. Ultrasound image features(More)