Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue
Robotic neural-thread placement requires regulating the insertion-tool tip relative to tissue that moves with cardiac and respiratory pulsation. This paper develops a preview-based relative-motion controller that estimates latency-delayed periodic surface motion, predicts it over a short horizon, and uses offset-free model predictive control to regulate relative placement while limiting actuator effort and lateral relative velocity. In MuJoCo, the 1-DOF controller achieves 12.0\um\ free-space an
Record details
Published: 9 August 2026
Source: arXiv cs.HC
Category: Research
Topics: Regulation · Agents & autonomy
Retrieved: 11 August 2026
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ethics.ai (9 August 2026), “Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue,” evidence record 18286, https://ethics.ai/record/18286 (originally published by arXiv cs.HC).
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