Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging

arXiv:2609.34400 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Comments: 8 pages, 7 figures, submitted to the IEEE International Conference on Robotics and Automation (ICRA2027)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 3× in this paper · explained in 1 episode
• Admittance Control — 1× in this paper · explained in 1 episode
• Robustness — 1× in this paper · explained in 5 episodes

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