文献学习-9-具有瞬时远心运动机制的机器人注射原型的实现与控制Key Words: Impedance control, linear parameter-varying (LPV) system, remote center of motion (RCM) mechanism, Robotic needle insertion. Authors: Lin Liu , Wei Chen , Zhi Chen, Weiguo Zhou , Ruofeng Wei , Member, IEEE, and Yunhui Liu , Fellow, IEEE Source: