Author

H. Qin

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Open access Sep 2026

An Adaptive PID-SAC Algorithm for Robotic Constant Force Tracking of Massage Robotic Arm

During continuous operation on the human back, the actual contact force exerted by a massage robotic arm may deviate from the desired value because of soft-tissue viscoelasticity, body-surface curvature changes, respiratory motion, and random disturbances. To achieve stable constant-force tracking, we propose a coordin...

H. Qin, Xiao-Song Zhao, Chang Liu et al. · Processes · 0 citations

Aug 2026

Active enrichment of circulating tumor DNA by supramolecular-functionalized micromotors for ultrasensitive quantification.

Liquid biopsy of pancreatic cancer via circulating tumor DNA (ctDNA) is challenged by the extreme rarity of targets, a limitation that conventional passive biosensors cannot overcome. Here, we engineered an intelligent micromotor that actively captured, transported, and electrochemically reported ctDNA. The asymmetric...

Zhiyong Ran, Yanbo Yu, Xiankun Lin et al. · Biosensors & bioelectronics · 0 citations