Bruce Tang | University of Connecticut (original) (raw)
Papers by Bruce Tang
Complementary Therapies in Medicine, 2019
Background and purpose: Fatigue is one of the most prevalent adverse events reported by cancer pa... more Background and purpose: Fatigue is one of the most prevalent adverse events reported by cancer patients. The aim of this study was to investigate the association between traditional Chinese medicine body constitution (TCMBC) and moderate-to-severe cancer-related fatigue in cancer patients. Materials and methods: A cross-sectional study was conducted on cancer patients recruited from a regional hospital in southern Taiwan. The association between TCMBC, measured using the Constitution in Chinese Medicine Questionnaire (CCMQ) and moderate-to-severe cancer-related fatigue (based on the Taiwanese version of the Brief Fatigue Inventory score ≥ 4) was evaluated using multiple logistic regression analysis. Results: Of the 170 participants, 37 (21.8%) had moderate-to-severe fatigue. Yang-deficiency (adjusted odds ratio [aOR] = 3.55, 95% confidence interval [CI] = 1.50-8.40) and Qi-deficiency (aOR = 2.84, 95% CI = 1.18-6.82) TCMBC were significantly associated with moderate-to-severe cancer-related fatigue. Conclusion: TCMBC could be used as a clinical tool to identify cancer patients prone to experience moderate-tosevere cancer-related fatigue, and to provide Chinese medicine practitioners a basis for selecting an appropriate treatment approach based on TCMBC.
Biomedical Journal of Scientific & Technical Research, 2020
As a vibrational energy field, electromagnetic resonance (EMR) gives effect to all the substances... more As a vibrational energy field, electromagnetic resonance (EMR) gives effect to all the substances composed of molecules, atoms and other particles with vibrational properties. In our previous study, we reported that clotrimazole (CLT) mediated by EMR inhibited the growth of Saccharomyces cerevisiae on solid media. This study confirmed that the inhibition effect also existed in liquid media. Based on the analysis of the experimental data of recent two years, the seasonal regular pattern of EMR mediated CLT was summarized.
Biomedical Journal of Scientific & Technical Research, 2021
The concept of a life force energy called "Qi" is a fundamental concept in Traditional Chinese Me... more The concept of a life force energy called "Qi" is a fundamental concept in Traditional Chinese Medicine (TCM), despite the fact that it can not be measured using modern technology. For this study, we selected three different forms of potential sources of Qi to study the effect of Qi on cellular and organ levels using telomeres as an indicator of aging. The three types of sources of Qi are as follows: The external Qi from a Qigong master, internal Qi generated by ingesting the Qi-invigorating Chinese herb, Astragali Radix, and from a Rotating Poynting Vector (RPV) device which generates an RPV-field which is reported to have similar property as Qi [1]. The results showed that for cells, the expression of TERT gene was up regulated and the telomere length was prolonged after the treatment of different Qi, but the change of telomerase activity was not significant, with only a slight increase at 4 hours after the treatment of Qigong external Qi. For animal organs, Qi from Astragali Radix was found to prolong telomere length in the heart, liver, spleen and lung tissues, but not in the kidney, brain or skeletal muscle of mice. We preliminarily conclude that the three different sources of Qi showed some similarity at the cellular level to improve the status of aging and that Qi-invigorating herbs can delay the shortening of telomere for selected organs of mice. More research needs to be conducted to better understand the effect of Qi on aging as well as its biochemical mechanisms.
EXPLORE, 2020
This is a PDF file of an article that has undergone enhancements after acceptance, such as the ad... more This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.
Chinese Medicine, 2020
Objectives: To explore the effects of Qi-invigorating herbs on mitochondrial function using cultu... more Objectives: To explore the effects of Qi-invigorating herbs on mitochondrial function using cultured cells and animal organs. Methods: Using water extracts of Astragali radix, we investigated the effect of “Qi-invigoration” on M-1 renal cells and mouse organs in-vitro including total adenylate production (TAP), reactive oxygen species (ROS) levels, and mitochondrial membrane potential (MMP). We also examined the effect on antioxidant capacity by conducting an analysis of superoxide dismutase (SOD) and glutathione (GSH). Results: 1) Astragali radix increased mitochondrial TAP generation and decreased ROS levels in both mouse kidney tissues and M-1 renal cells. 2) Astragali radix also significantly increased MMP and GSH levels in M-1 cells, but in the kidney tissue, there was no significant change in MMP levels and a decrease in GSH levels. 3) Astragali radix stimulated TAP levels in the heart, spleen, lung, kidney and skeletal muscle tissue, which was accompanied by the reduction of ...
We examined the effect of the Qi-invigorating Traditional Chinese Medicines (TCM) herb Panax gins... more We examined the effect of the Qi-invigorating Traditional Chinese Medicines (TCM) herb Panax ginseng (P.G.) on mitochondrial functions and cellular antioxidant capacity in different organs of mice. We found that the P.G. extracts had a significant effect on tissues of mice, with the generation of total adenylate pool (TAP) enhanced in all visceral tissues, but not for the brain. The mitochondrial membrane potential (MMP) and antioxidant capacity reflected by superoxide dismutase (SOD) and glutathione (GSH) increased only for the meridian tissues that P.G. belongs to including Heart, Spleen and Lung. Reactive oxygen species (ROS), as a combined result of the increased energy metabolism and antioxidant capacity, varied in different organs. We concluded that: 1) the Qi-invigorating TCM herb P.G. had a significant effect on mice by enhancing TAP production in all of the visceral tissues examined, except for the brain; 2) for the meridional tissues of P.G. (Heart, Spleen and Lung), the P...
Evidence-based Complementary and Alternative Medicine : eCAM, 2021
The anatomical basis of acupuncture meridians continues to be enigmatic. Although much attention ... more The anatomical basis of acupuncture meridians continues to be enigmatic. Although much attention has been placed on potential correlations with inter/intramuscular fascia or lower electrical impedance, animal studies performed in the past 40 years have shown that tracer dyes—specifically Tc-99m pertechnetate—injected at strategic skin points generate linear migrations closely aligning with acupuncture meridians. To evaluate whether this phenomenon is also observable in humans, we injected two fluorescent dyes—fluorescein sodium and indocyanine green (ICG)—into the dermal layer both at acupuncture points (PC5, PC6, and PC7) and a nonacupoint control. Fifteen healthy volunteers were enrolled in this study. Of the 19 trials of fluorescein injected at PC6, 15 (79%) were associated with slow diffusion of the dye proximally along a path matching closely with the pericardium meridian. Furthermore, the dye emerged and coalesced proximally at exactly acupoint PC3. Injections of ICG at the ac...
Biomedical Chromatography
Adenine nucleotides and malondialdehyde are key components involved in energy metabolism and reac... more Adenine nucleotides and malondialdehyde are key components involved in energy metabolism and reactive oxygen species production. Measuring the levels of these components at the same time would be critical in studying mitochondrial functions. We have established an HPLC method to simultaneously measure ATP, ADP, AMP, malondialdehyde and uric acid. Samples were treated with perchloric acid followed by centrifugation. After neutralization, the supernatant was subjected to HPLC determination. HPLC was performed with a C18 chromatographic column, isocratic elusion and UV detection. The detection and quantification limits for these components were determined with standard solutions. The precision, repeatability and 24-hour stability were evaluated with cellular samples, and their relative standard deviations were all within 2%. The reproducibility and efficiency were confirmed with sample recovery tests and the observed oxidative effects of H2 O2 on Jurkat cells. With this method, we discovered the dependence of energy and oxidative states on the density of Jurkat cells cultured in suspension. We also found a significant correlation between uric acid in serum with that in saliva. These results indicate that this method has good accuracy and applicability. It can be used in biological, pharmacological and clinical studies, especially those involving mitochondria, reactive oxygen species and purinergic signalling.
Chinese Medicine
The linkage between Qi and mitochondria was investigated by exploring the effect of Traditional C... more The linkage between Qi and mitochondria was investigated by exploring the effect of Traditional Chinese Medicine (TCM) Qi-invigorating herbs on mitochondrial function at the biochemical and molecular levels. Three Chinese herbs (Astragali radix, Herba cistanche, Panax ginseng) were used to treat cultured mouse kidney cells and the generation of adenosine triphosphate (ATP) was measured. The Qi-invigorating herb, Astragali radix, was selected for further study using additional biological and molecular parameters, including ATP, reactive oxygen species (ROS), mitochondrial membrane potential (MMP), mtDNA copies, superoxide dismutase (SOD), glutathione (GSH), cell growth, cell viability and transcriptomes. We also chose two concentrations of Astragali radix to study the hormetic effect. The results indicated that: 1) Qi-invigorating herbs have significant effects on the function of mitochondria, with ATP production and the antioxidant capacity being significantly enhanced, and ROS levels being reduced, allowing for a more optimal oxidation environment. The effect of the herbs followed a hormetic curve with a stimulating effect at lower doses but an inhibiting effect at high doses; 2) The growth of the cells was not affected despite numerous biochemical changes associated with mitochondrial function, indicating the powerful ability of mitochondria to maintain cellular homeostasis; 3) The up-regulation of NOCT gene, related to nicotinamide adenine dinucleotide (NADH) synthesis, offers a molecular basis for the ATP-promoting effect of the Qi-invigorating herbs. This work provides additional insight into the efficacy of TCM herbs from a western perspective.
Integrative Medicine Research
This work aimed at controlling the size of chitosan nanoparticles that were prepared by the ionot... more This work aimed at controlling the size of chitosan nanoparticles that were prepared by the ionotropic gelation method. Quantities of chitosan and sodium tripolyphosphate (STPP) were optimized to obtain a fine size and narrow size distribution of the nanoparticles. X-ray diffraction and selected area electron diffraction patterns indicated the existence of both crystalline and amorphous phases of chitosan. Particle size and size distribution were determined using transmission electron microscopy and dynamic laser scattering techniques. The size of the chitosan particles decreased with a reduction in STPP content due to a decrease in cross-link bonding and the formation of aggregate particles. Using this facile approach, the finest particles of chitosan were obtained in a range of 3-6 nm.
Biology, Engineering and Medicine, 2019
A number of nonlocal biological effect of chemicals were reported in recent years. In this study,... more A number of nonlocal biological effect of chemicals were reported in recent years. In this study, we examined nonlocal effect of two antibacterial Chinese medicinal herbs (Houttuynia cordata Thunb and Sargentodoxa cuneata) on the growth of Escherichia coli. The processed herbs were placed on the transmission side of a commercially available scalar wave device, and the E. coli cultured on triplicate agar plates on the receiver side. Growth suppression was evaluated by Colony Forming Unit (CFU) determination in comparison to the control group. A significant nonlocal inhibitory effect (up to 30%) was demonstrated for the treatment group (p<0.05), indicating a success in transmitting the antibacterial function of the herbs to the E. coli cultures. Factors affecting the success rate were explored.
International Microbiology
With the development of the electric technologies, the biological effects of electromagnetic fiel... more With the development of the electric technologies, the biological effects of electromagnetic fields (EMF) were widely studied. However, the results remain controversial and the biophysical mechanisms are still unknown. To our knowledge, little studies pay attention to the radio frequency (RF) of 2.6–5 MHz. In the present study, we investigated the effect of these radio frequencies on the growth and cell viability of Saccharomyces cerevisiae at very low power density below 0.1 mT. The result appeared to be time-dependent. The growth of the yeast cells was obviously affected by the RF-EMF with a 43.5% increase when exposed for 30 h, and the growth-promoting effect decreased along with the radiation time and eventually turned to an inhibiting effect retarding growth by 20.7% at 89 h. The cell viability was improved to 70.1% at 8 h and reduced by 33.5% at 28 h. The superoxide accumulated in exposed cells as radiation time increased which may lead to the inhibition of viability and growth of the cells. However, the efficient frequency, power density, and exposure dosage await further investigation. Nevertheless, the wave band studied in this research is effective to produce biological effect, and therefore, it may provide an optional new radio frequency which is valuable for the development and utilization in therapy technique and medical use.
Optical Engineering, 2004
We propose a unique approach for calibrating robot tool center point (TCP) using a noncontact sen... more We propose a unique approach for calibrating robot tool center point (TCP) using a noncontact sensor such as a laser displacement sensor. This approach is based on nonlinear least square optimization algorithms with geometry constraints. Experimental results show that calibration algorithm is robust and the calibration error is reduced significantly compared to that of a conventional method.
Complementary Therapies in Medicine, 2019
Background and purpose: Fatigue is one of the most prevalent adverse events reported by cancer pa... more Background and purpose: Fatigue is one of the most prevalent adverse events reported by cancer patients. The aim of this study was to investigate the association between traditional Chinese medicine body constitution (TCMBC) and moderate-to-severe cancer-related fatigue in cancer patients. Materials and methods: A cross-sectional study was conducted on cancer patients recruited from a regional hospital in southern Taiwan. The association between TCMBC, measured using the Constitution in Chinese Medicine Questionnaire (CCMQ) and moderate-to-severe cancer-related fatigue (based on the Taiwanese version of the Brief Fatigue Inventory score ≥ 4) was evaluated using multiple logistic regression analysis. Results: Of the 170 participants, 37 (21.8%) had moderate-to-severe fatigue. Yang-deficiency (adjusted odds ratio [aOR] = 3.55, 95% confidence interval [CI] = 1.50-8.40) and Qi-deficiency (aOR = 2.84, 95% CI = 1.18-6.82) TCMBC were significantly associated with moderate-to-severe cancer-related fatigue. Conclusion: TCMBC could be used as a clinical tool to identify cancer patients prone to experience moderate-tosevere cancer-related fatigue, and to provide Chinese medicine practitioners a basis for selecting an appropriate treatment approach based on TCMBC.
Biomedical Journal of Scientific & Technical Research, 2020
As a vibrational energy field, electromagnetic resonance (EMR) gives effect to all the substances... more As a vibrational energy field, electromagnetic resonance (EMR) gives effect to all the substances composed of molecules, atoms and other particles with vibrational properties. In our previous study, we reported that clotrimazole (CLT) mediated by EMR inhibited the growth of Saccharomyces cerevisiae on solid media. This study confirmed that the inhibition effect also existed in liquid media. Based on the analysis of the experimental data of recent two years, the seasonal regular pattern of EMR mediated CLT was summarized.
Biomedical Journal of Scientific & Technical Research, 2021
The concept of a life force energy called "Qi" is a fundamental concept in Traditional Chinese Me... more The concept of a life force energy called "Qi" is a fundamental concept in Traditional Chinese Medicine (TCM), despite the fact that it can not be measured using modern technology. For this study, we selected three different forms of potential sources of Qi to study the effect of Qi on cellular and organ levels using telomeres as an indicator of aging. The three types of sources of Qi are as follows: The external Qi from a Qigong master, internal Qi generated by ingesting the Qi-invigorating Chinese herb, Astragali Radix, and from a Rotating Poynting Vector (RPV) device which generates an RPV-field which is reported to have similar property as Qi [1]. The results showed that for cells, the expression of TERT gene was up regulated and the telomere length was prolonged after the treatment of different Qi, but the change of telomerase activity was not significant, with only a slight increase at 4 hours after the treatment of Qigong external Qi. For animal organs, Qi from Astragali Radix was found to prolong telomere length in the heart, liver, spleen and lung tissues, but not in the kidney, brain or skeletal muscle of mice. We preliminarily conclude that the three different sources of Qi showed some similarity at the cellular level to improve the status of aging and that Qi-invigorating herbs can delay the shortening of telomere for selected organs of mice. More research needs to be conducted to better understand the effect of Qi on aging as well as its biochemical mechanisms.
EXPLORE, 2020
This is a PDF file of an article that has undergone enhancements after acceptance, such as the ad... more This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.
Chinese Medicine, 2020
Objectives: To explore the effects of Qi-invigorating herbs on mitochondrial function using cultu... more Objectives: To explore the effects of Qi-invigorating herbs on mitochondrial function using cultured cells and animal organs. Methods: Using water extracts of Astragali radix, we investigated the effect of “Qi-invigoration” on M-1 renal cells and mouse organs in-vitro including total adenylate production (TAP), reactive oxygen species (ROS) levels, and mitochondrial membrane potential (MMP). We also examined the effect on antioxidant capacity by conducting an analysis of superoxide dismutase (SOD) and glutathione (GSH). Results: 1) Astragali radix increased mitochondrial TAP generation and decreased ROS levels in both mouse kidney tissues and M-1 renal cells. 2) Astragali radix also significantly increased MMP and GSH levels in M-1 cells, but in the kidney tissue, there was no significant change in MMP levels and a decrease in GSH levels. 3) Astragali radix stimulated TAP levels in the heart, spleen, lung, kidney and skeletal muscle tissue, which was accompanied by the reduction of ...
We examined the effect of the Qi-invigorating Traditional Chinese Medicines (TCM) herb Panax gins... more We examined the effect of the Qi-invigorating Traditional Chinese Medicines (TCM) herb Panax ginseng (P.G.) on mitochondrial functions and cellular antioxidant capacity in different organs of mice. We found that the P.G. extracts had a significant effect on tissues of mice, with the generation of total adenylate pool (TAP) enhanced in all visceral tissues, but not for the brain. The mitochondrial membrane potential (MMP) and antioxidant capacity reflected by superoxide dismutase (SOD) and glutathione (GSH) increased only for the meridian tissues that P.G. belongs to including Heart, Spleen and Lung. Reactive oxygen species (ROS), as a combined result of the increased energy metabolism and antioxidant capacity, varied in different organs. We concluded that: 1) the Qi-invigorating TCM herb P.G. had a significant effect on mice by enhancing TAP production in all of the visceral tissues examined, except for the brain; 2) for the meridional tissues of P.G. (Heart, Spleen and Lung), the P...
Evidence-based Complementary and Alternative Medicine : eCAM, 2021
The anatomical basis of acupuncture meridians continues to be enigmatic. Although much attention ... more The anatomical basis of acupuncture meridians continues to be enigmatic. Although much attention has been placed on potential correlations with inter/intramuscular fascia or lower electrical impedance, animal studies performed in the past 40 years have shown that tracer dyes—specifically Tc-99m pertechnetate—injected at strategic skin points generate linear migrations closely aligning with acupuncture meridians. To evaluate whether this phenomenon is also observable in humans, we injected two fluorescent dyes—fluorescein sodium and indocyanine green (ICG)—into the dermal layer both at acupuncture points (PC5, PC6, and PC7) and a nonacupoint control. Fifteen healthy volunteers were enrolled in this study. Of the 19 trials of fluorescein injected at PC6, 15 (79%) were associated with slow diffusion of the dye proximally along a path matching closely with the pericardium meridian. Furthermore, the dye emerged and coalesced proximally at exactly acupoint PC3. Injections of ICG at the ac...
Biomedical Chromatography
Adenine nucleotides and malondialdehyde are key components involved in energy metabolism and reac... more Adenine nucleotides and malondialdehyde are key components involved in energy metabolism and reactive oxygen species production. Measuring the levels of these components at the same time would be critical in studying mitochondrial functions. We have established an HPLC method to simultaneously measure ATP, ADP, AMP, malondialdehyde and uric acid. Samples were treated with perchloric acid followed by centrifugation. After neutralization, the supernatant was subjected to HPLC determination. HPLC was performed with a C18 chromatographic column, isocratic elusion and UV detection. The detection and quantification limits for these components were determined with standard solutions. The precision, repeatability and 24-hour stability were evaluated with cellular samples, and their relative standard deviations were all within 2%. The reproducibility and efficiency were confirmed with sample recovery tests and the observed oxidative effects of H2 O2 on Jurkat cells. With this method, we discovered the dependence of energy and oxidative states on the density of Jurkat cells cultured in suspension. We also found a significant correlation between uric acid in serum with that in saliva. These results indicate that this method has good accuracy and applicability. It can be used in biological, pharmacological and clinical studies, especially those involving mitochondria, reactive oxygen species and purinergic signalling.
Chinese Medicine
The linkage between Qi and mitochondria was investigated by exploring the effect of Traditional C... more The linkage between Qi and mitochondria was investigated by exploring the effect of Traditional Chinese Medicine (TCM) Qi-invigorating herbs on mitochondrial function at the biochemical and molecular levels. Three Chinese herbs (Astragali radix, Herba cistanche, Panax ginseng) were used to treat cultured mouse kidney cells and the generation of adenosine triphosphate (ATP) was measured. The Qi-invigorating herb, Astragali radix, was selected for further study using additional biological and molecular parameters, including ATP, reactive oxygen species (ROS), mitochondrial membrane potential (MMP), mtDNA copies, superoxide dismutase (SOD), glutathione (GSH), cell growth, cell viability and transcriptomes. We also chose two concentrations of Astragali radix to study the hormetic effect. The results indicated that: 1) Qi-invigorating herbs have significant effects on the function of mitochondria, with ATP production and the antioxidant capacity being significantly enhanced, and ROS levels being reduced, allowing for a more optimal oxidation environment. The effect of the herbs followed a hormetic curve with a stimulating effect at lower doses but an inhibiting effect at high doses; 2) The growth of the cells was not affected despite numerous biochemical changes associated with mitochondrial function, indicating the powerful ability of mitochondria to maintain cellular homeostasis; 3) The up-regulation of NOCT gene, related to nicotinamide adenine dinucleotide (NADH) synthesis, offers a molecular basis for the ATP-promoting effect of the Qi-invigorating herbs. This work provides additional insight into the efficacy of TCM herbs from a western perspective.
Integrative Medicine Research
This work aimed at controlling the size of chitosan nanoparticles that were prepared by the ionot... more This work aimed at controlling the size of chitosan nanoparticles that were prepared by the ionotropic gelation method. Quantities of chitosan and sodium tripolyphosphate (STPP) were optimized to obtain a fine size and narrow size distribution of the nanoparticles. X-ray diffraction and selected area electron diffraction patterns indicated the existence of both crystalline and amorphous phases of chitosan. Particle size and size distribution were determined using transmission electron microscopy and dynamic laser scattering techniques. The size of the chitosan particles decreased with a reduction in STPP content due to a decrease in cross-link bonding and the formation of aggregate particles. Using this facile approach, the finest particles of chitosan were obtained in a range of 3-6 nm.
Biology, Engineering and Medicine, 2019
A number of nonlocal biological effect of chemicals were reported in recent years. In this study,... more A number of nonlocal biological effect of chemicals were reported in recent years. In this study, we examined nonlocal effect of two antibacterial Chinese medicinal herbs (Houttuynia cordata Thunb and Sargentodoxa cuneata) on the growth of Escherichia coli. The processed herbs were placed on the transmission side of a commercially available scalar wave device, and the E. coli cultured on triplicate agar plates on the receiver side. Growth suppression was evaluated by Colony Forming Unit (CFU) determination in comparison to the control group. A significant nonlocal inhibitory effect (up to 30%) was demonstrated for the treatment group (p<0.05), indicating a success in transmitting the antibacterial function of the herbs to the E. coli cultures. Factors affecting the success rate were explored.
International Microbiology
With the development of the electric technologies, the biological effects of electromagnetic fiel... more With the development of the electric technologies, the biological effects of electromagnetic fields (EMF) were widely studied. However, the results remain controversial and the biophysical mechanisms are still unknown. To our knowledge, little studies pay attention to the radio frequency (RF) of 2.6–5 MHz. In the present study, we investigated the effect of these radio frequencies on the growth and cell viability of Saccharomyces cerevisiae at very low power density below 0.1 mT. The result appeared to be time-dependent. The growth of the yeast cells was obviously affected by the RF-EMF with a 43.5% increase when exposed for 30 h, and the growth-promoting effect decreased along with the radiation time and eventually turned to an inhibiting effect retarding growth by 20.7% at 89 h. The cell viability was improved to 70.1% at 8 h and reduced by 33.5% at 28 h. The superoxide accumulated in exposed cells as radiation time increased which may lead to the inhibition of viability and growth of the cells. However, the efficient frequency, power density, and exposure dosage await further investigation. Nevertheless, the wave band studied in this research is effective to produce biological effect, and therefore, it may provide an optional new radio frequency which is valuable for the development and utilization in therapy technique and medical use.
Optical Engineering, 2004
We propose a unique approach for calibrating robot tool center point (TCP) using a noncontact sen... more We propose a unique approach for calibrating robot tool center point (TCP) using a noncontact sensor such as a laser displacement sensor. This approach is based on nonlinear least square optimization algorithms with geometry constraints. Experimental results show that calibration algorithm is robust and the calibration error is reduced significantly compared to that of a conventional method.