Table 1.

Comparison of related work.

University of inventors	Shanghai Jiao Tong University	National Cheng Kung University
Acupoint locating	A visual servoing task with correlation filter algorithm	Combine facial landmarks and image deformation to estimate acupoints
Path planning	A hierarchical control strategy of the image Jacobian matrix	Formulated as a hand-eye calibration problem
Insertion control	By judging the threshold value of evaluation criteria	Not mentioned
Feedback of stimulation	A device to transform the deformation of the skin into the deformation of the spring	A device based on collection of electroencephalogram signals to automatically detect a Deqi effect
Human-robot interaction	The magnitude of the force can be estimated through visual observation of skin deformation	The user interacts with a chatbot to describe her/his symptoms