使用AVR系列的高档八位单片机作为主控芯片控制多路舵机，并用USB接口作为机器人控制器和上位机通讯的接口，从而设计出一款通用的机器人控制器。控制器下位机软件程序引入了分时操作系统的思想，并利用AVR单片机内部16位定时器及i/o商品产生多嘴PWM输出。本设计尤其适用于教学机器人和娱乐机器人控制系统中，并已经成功应用于为人教学机器人系统和中国象棋机器人系统当中。

根据多操作机排牙机器人的结构特点及其高精度运动控制的要求，并结合软、硬件控制的特点，确定了通过软件来实现多操作机排牙机器人高精度运动控制的方案，通过对多操作机排牙机器人控制系统的研究，分析了影响控制精度的各个环节, 提出了预设定时和实时定时的两种控制软件实现方法。通过测试及排牙控制实验对两种实现方法的控制精度及稳定性进行了比较分析，验证了实时定时的控制软件实现方法可实现多操作机排牙机器人的高精度运动控制。

针对多操作机排牙机器人系统中的牙弓曲线发生器难以用刚体形式进行运动仿真并进行应力应变分析的问题，基于柔性体仿真的基本原理，采用ANSYS和ADAMS软件对其进行了联合仿真。运行结果表明柔性体运动仿真问题已得到解决，并通过ANSYS软件分析了牙弓曲线发生器在静态和动态下的应力应变分布，为进一步进行机器人系统结构与误差的分析奠定了基础。

本文对人类典型表情的眼睛、眉毛、嘴和下颌运动过程进行了分析，统计出了各器官的运动范围。采用AutoCAD和3DSMAX设计制作了机器人仿生脸的三维结构模型，并建立了机器人仿生脸的机构运动传递关系。通过MAXScript脚本程序实现了三维运动仿真的参数化控制，获得了几种典型表情的三维运动仿真。

Based on the characteristics of serial joints and parallel joints, we put forward a tooth-arrangement robot composed of a kind of 5 degrees of freedom mechanism of serial structure and parallel structure. Through the analysis of the tooth-arrangement robot mechanism, the equation of kinematics has been built. We analyze the question of inverse kinematics and deduce the matrix of position and gesture of each joint by using analytic method. Finally, we take down-left tooth as an example, on the condition of knowing the equation of dental arch curve and the parameters of single tooth in the coordinate system, and the matrix of position and gesture of each joint has been solved. The result shows that the arithmetic is reasonable and efficient and partly solve the problem of teeth arrangement robot kinematics.

In this paper we present a semi-automated device designed and developed to deliver radio-active seeds for treating prostate cancer. In the brachytherapy procedure a slander needle is inserted through the perineum and passed through different types of tissues. Thus, the needle experiences significant amount of force which may cause it to buckle and bend. In our design, we have considered the buckling force and insertion force on needle by collecting invivo data from real patient and performing in-vitro experiments. Techniques to reduce force and organ/tissue deformation have been implemented into this new design. To track the axial force on the needle for detecting pubic arch interference and to improve robotic control, we have incorporated three force sensors. Rigidity and factor of safety of the device has been analyzed using finite element method which was very useful for iterative design process.

Although many medical robots such as surgical robots and nurse robots were developed, very few robots have been introduced in the field of oral restoration, especially in complete denture manufacturing. Until now, complete denture manufacturing has been manual, with low quality and low effectiveness. A robotic system for complete denture manufacturing, which can realize automatic implanting of artificial teeth, is described in this paper. The tooth arrangement algorithm is presented, including the equations of jaw-arch curve and teeth-arch curve, setup of a single tooth coordinate system and calculation of tooth position in teeth-arch curve. An expert system software is developed that integrates high-level dentist experiences and dexterous technician skills. Three-dimensional (3-D) display of tooth arrangement, human-computer interactive adjustment of tooth position and orientation in teeth-arch curve are achieved. Robot path planning and control data creation are realized by this software also. Finally, an experiment of complete denture manufacturing is made for a patient, a pair of complete dentures is obtained, and the results are analyzed. This robotic system is expected to change the manner of complete denture manufacturing wholly, and significantly improve product quality and manufacturing efficiency.

The successful application of robots in surgery and other medical fields prompts us that robots can also play an important role in oral restoration. The traditional way of complete denture manufacturing is manual and only high-level dentists and skilled technicians can do this work well. But we believe that a robot can do this work better and more easily. Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a robot gripper. Aiming at improving our previous robot manufacturing system of complete dentures, we present a new method to perform teeth implanting. We improve the previous manufacturing procedure by adding several components in the operating process. By this method, the robot gripper only needs to grasp and implant intermediate blocks, which have very simple shapes and are easy to handle precisely. The 3D human-machine tooth arrangement software performs the calculation of intermediate blocks' positions and orientations. We perform the experiment of tooth arrangement for a patient, and obtain a pair of ideal tooth arches. A complete denture can be manufactured according to this result.