# A Compact 2-DOF Cross-Scale Piezoelectric Robotic Manipulator With Adjustable Force for Biological Delicate Puncture

> Research article (IEEE Transactions on Robotics, 2024) · cited 47× · AI/ML

**Wikidata**: [openalex:W4402568737](https://www.wikidata.org/wiki/openalex:W4402568737)  
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