Yuanpei Cai

A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction

Xiangyu Chu, Hoi Wut Yip, Yuanpei Cai, 2018, IEEE Robotics and Automation Letters.

Semi-Analytical Orientation Alignment with Joint Limit Constraints for Tele-Operated Surgical System

Yuanpei Cai, C. W. Vincent Hui, K W Samuel Au, 2019 .

A Task Space Virtual Fixture Architecture for Tele-operated Surgical System with Slave Joint Limit Constraints

Yuanpei Cai, Kwok Wai Samuel Au, Russell Taylor, 2021 .

Non-Fixed Contact Manipulation Control Framework for Deformable Objects With Active Contact Adjustment

Russell H. Taylor, Yuanpei Cai, K. W. Samuel Au, 2021, IEEE Robotics and Automation Letters.