{
  "id": 18286,
  "url": "https://arxiv.org/abs/2608.08860v1",
  "title": "Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue",
  "summary": "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",
  "authors": "Yongyan Cao",
  "category": "research",
  "topics": "regulation,agents-autonomy",
  "orgs": null,
  "regions": null,
  "published_at": "2026-08-09T18:53:32.000Z",
  "fetched_at": "2026-08-11T05:10:37.351Z",
  "source_slug": "x-arxiv-cs-hc",
  "source_name": "arXiv cs.HC",
  "source_homepage": "https://arxiv.org/list/cs.HC/recent",
  "ethics_ai_record_url": "https://ethics.ai/record/18286",
  "original_url": "https://arxiv.org/abs/2608.08860v1",
  "evidence_status": "source-only",
  "attribution": "via ethics.ai"
}