IEEE Robotics & Automation Magazine - September 2023 - 1

CONTENTS
Vol. 30, No. 3 September 2023
06
79 High-Intensity Focused Ultrasound
Surgery Based on KUKA Robot
A Computer-Assisted Platform for
Noninvasive Surgical Treatments on Static
and Moving Organs
By Andrea Mariani, Laura Morchi,
Alessandro Diodato, Selene Tognarelli,
and Arianna Menciassi
94 A Continuum Robot for
Remote Applications
From Industrial to Medical Surgery
With Slender Continuum Robots
By David Alatorre Troncoso,
Jose A. Robles-Linares, Matteo Russo,
Mohamed A. Elbanna, Samuel Wild, Xin Dong,
Abdelkhalick Mohammad, James Kell,
Andy D. Norton, and Dragos Axinte
FEATURES
REGUL AR ART ICLES
6 A Digital Twin of the Research Vessel
Gunnerus for Lifecycle Services
Outlining Key Technologies
By Houxiang Zhang, Guoyuan Li, Lars Ivar Hatledal,
Yingguang Chu, André Listou Ellefsen, Peihua Han,
Pierre Major, Robert Skulstad, Tongtong Wang,
and Hans Petter Hildre
20 Tensegristats
Lightweight Untethered Morphing Robots
By Autumn Pratt, Patrick Wilcox,
Caroline Hanson, and Robert F. Shepherd
28 Suitability of Various Lidar and Radar
Sensors for Application in Robotics
A Measurable Capability Comparison
By Haeyeon Gim, Seungmin Baek, Jeongki Park,
Hoyong Lee, Chiwon Sung, Kyung-Tae Kim,
and Soohee Han
44 Online Tuning of Control Parameters
for Off-Road Mobile Robots
Novel Deterministic and Neural
Network-Based Approaches
By Ashley Hill, Jean Laneurit,
Roland Lenain, and Eric Lucet
56 Touching the Sound
Audible Features Enable Haptics
for Robot Control
By Hongshen Shi, Matteo Russo,
Juan de la Torre, Abdelkhalick Mohammad,
Xin Dong, and Dragos Axinte
69 Visuo-Tactile Recognition of Partial
Point Clouds Using PointNet
and Curriculum Learning
Enabling Tactile Perception
from Visual Data
By Christopher Parsons, Alessandro Albini,
Daniele De Martini, and Perla Maiolino
106 SoRoSim
A MATLAB Toolbox for Hybrid Rigid-Soft Robots
Based on the Geometric Variable-Strain Approach
By Anup Teejo Mathew, Ikhlas Ben Hmida,
Costanza Armanini, Frederic Boyer,
and Federico Renda
SURVEY ART I CLE
123 Open Robot Hardware
Progress, Benefits, Challenges,
and Best Practices
By Vatsal V. Patel, Minas V. Liarokapis,
and Aaron M. Dollar
IEEE Robotics and Automation Magazine (ISSN 1070-9932) (IRAMEB) is published quarterly by the Institute of Electrical and Electronics
Engineers, Inc. Headquarters: 3 Park Avenue, 17th Floor, New York, NY 10016-5997 USA, Telephone: +1 212 419 7900. Responsibility
for the content rests upon the authors and not upon the IEEE, the Society or its members. IEEE Service Center (for orders,
subscriptions, address changes): 445 Hoes Lane, P.O. Box 1331, Piscataway, NJ 08855 USA. Telephone: +1 732 981 0060. Individual copies:
IEEE Members US$20.00 (first copy only), non-Members US$140 per copy. Subscription rates: Annual subscription rates included in
IEEE Robotics and Automation Society member dues. Subscription rates available on request. Copyright and reprint permission:
Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limits of U.S. Copyright law for the
private use of patrons 1) those post-1977 articles that carry a code at the bottom of the first page, provided the per-copy fee indicated in the
code is paid through the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923 USA; 2) pre-1978 articles without a fee.
For other copying, reprint, or republication permission, write Copyrights and Permissions Department, IEEE Service Center, 445 Hoes
Lane, Piscataway, NJ 08854. Copyright © 2023 by the Institute of Electrical and Electronics Engineers Inc. All rights reserved. Periodicals
postage paid at New York and additional mailing offices. Postmaster: Send address changes to IEEE Robotics and Automation Magazine,
IEEE, 445 Hoes Lane, Piscataway, NJ 08854 USA. Canadian GST #125634188 PRINTED IN THE U.S.A.
Digital Object Identifier 10.1109/MRA.2023.3300216
Date of current version: 11 September 2023
ON THE COVER
This issue of IEEE Robotics and Automation Magazine
covers a wide range of applications including surface/
underwater robotics, ground vehicles, soft robotics,
haptics, and medical robotics.
BACKGROUND IMAGE ©SHUTTERSTOCK.COM/DONGIPIX
MAIN IMAGE: ©SHUTTERSTOCK.COM/CONCEPTCAFE
ICONS: IMAGES LICENSED BY INGRAM PUBLISHING
If you like an article, click this icon to
record your opinion. This capability
is available for online Web browsers
and offline PDF reading on a connected
device.
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
1
©SHUTTERSTOCK.COM/AUUSANAKUL

http://www.SHUTTERSTOCK.COM/AUUSANAKUL http://www.SHUTTERSTOCK.COM/DONGIPIX http://www.SHUTTERSTOCK.COM/CONCEPTCAFE

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023