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Zhenhuan Sun

4 accepted papers

2025

Oscillation Suppression of Acoustic Trapping: A Disturbance Observer-based Approach

IROS 2025

Acoustic tweezers have been a valuable tool across various fields, from nano-microfabrication to biology. Their unique characteristics enable three-dimensional particle manipulation, where acoustic trapping serves as a fundamental requirement. However, traditional methods struggle to maintain steady

Cited by 0SourceScholar
2024

3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope

RA-L 2024

As an essential component of noncontact manipulation, acoustic manipulation has achieved great success in multidisciplinary research and applications. Although acoustic tweezers have made advancements in manipulating particles in air, handling individual particles with high precision in water remain

Cited by 7SourceScholar
2023

Real-time Acoustic Holography with Iterative Unsupervised Learning for Acoustic Robotic Manipulation

ICRA 2023poster

Phase-only acoustic holography is a fundamental and promising technique for contactless robotic manipulation. Through independently controlling phase-only hologram (POH) of phase array of transducers (PAT) and simultaneously driving each channel by sophisticated circuits, a certain acoustic field is…

Cited by 1SourceScholar
2022

Real-time Acoustic Holography with Physics-based Deep Learning for Acoustic Robotic Manipulation

IROS 2022poster

Acoustic holography is a newly emerging and promising technique to dynamically generate arbitrary desired holographic acoustic field in 3D space for contactless robotic manipulation. The latest technology supporting complex dynamic holographic acoustic field reconstruction is through phased transduc…

Cited by 7SourceScholar