MATLAB simulation of a UR5e surgical robot performing a laparoscopic trajectory with tissue-adaptive PID force control and safety watchdog. Models soft tissue, organ wall, and cortical bone using spring-damper mechanics. Watchdog halts tool in 10ms. Verified per ISO 13485 and IEC 60601-1.

MATLAB and Simulink implementation of a haptic force-control framework for a 2R robotic manipulator performing surface polishing, including dynamics modeling, controller comparison, and contact-force regulation.