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The method was validated on a custom platform using 24 predefined motion trajectories executed via a force feedback haptic master and robotic slave manipulator.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Physiological tremor exhibited amplitudes that did not exceed 1\u00a0mm and dominant frequencies within 5\u201315\u00a0Hz. Across all 24 motion sets, suppression significantly reduced in majority of cases standard deviations of end\u2010effector velocity and acceleration and removed high\u2010frequency components while preserving smooth motion.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The Kalman filter based master follower tremor suppression strategy provides accurate and effective attenuation of physiological tremors, enhancing the precision, stability and operational safety of surgical robotic manipulation.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70159","type":"journal-article","created":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T05:56:03Z","timestamp":1775022963000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Tremor Suppression Method for the Master\u2013Follower Surgical Robot Manipulator Based on Kalman Filter Algorithm"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-1014-5666","authenticated-orcid":false,"given":"Tanjing","family":"Zhang","sequence":"first","affiliation":[{"name":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering Shandong University  Jinan China"},{"name":"Department of Chemical and Biomolecular Engineering Johns Hopkins University  Baltimore Maryland USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Congyu","family":"Sun","sequence":"additional","affiliation":[{"name":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering Shandong University  Jinan China"},{"name":"JIER Machine\u2010Tool Group Co. LTD  Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-1195-6335","authenticated-orcid":false,"given":"Xianzheng","family":"Zhou","sequence":"additional","affiliation":[{"name":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering Shandong University  Jinan China"},{"name":"National Demonstration Center for Experimental Mechanical Engineering Education Shandong University  Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yimiao","family":"Chen","sequence":"additional","affiliation":[{"name":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering Shandong University  Jinan China"},{"name":"National Demonstration Center for Experimental Mechanical Engineering Education Shandong University  Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoming","family":"Yue","sequence":"additional","affiliation":[{"name":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering Shandong University  Jinan China"},{"name":"National Demonstration Center for Experimental Mechanical Engineering Education Shandong University  Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianping","family":"Bi","sequence":"additional","affiliation":[{"name":"The Affiliated Hospital of Shandong University of Traditional Chinese Medicine  Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,3,31]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isci.2024.111509"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2053"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TUFFC.2025.3559870"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3588388"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.3026174"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2309"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1134\/S0025654424604683"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2024.3438452"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2016.08.025"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2882957"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/10.686791"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817506"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2024.3373433"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/B978\u20100\u201012\u2010819877\u20103.00011\u20101"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00542\u2010019\u201004736\u20101"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/10.841338"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2009.06.001"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2666"},{"key":"e_1_2_11_20_1","first-page":"2847","volume-title":"2007 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","author":"Veluvolu K. 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