AcuFlexBot: A Force-Controlled Robot for Breathing-Synchronized Acupuncture

This paper presents AcuFlexBot, a novel robotic system for automated acupuncture treatments. The system comprises a Dobot CR5A arm and a custom-designed end-effector featuring three servo motors for needle insertion, twisting, and skin support. Two integrated force sensors monitor contact forces to ensure safety and precision. The robot aims to reduce physician workload while improving treatment consistency and patient comfort through high positioning accuracy and stable needling techniques. A unified control architecture is developed to achieve precise force control, including an algorithm for real-time gravity compensation. Experimental results validate the system's ability to maintain a stable contact force and synchronize with patient breathing motions.