Towards model-free tool dynamic identification and calibration using multi-layer neural network
In robot control with physical interaction, like robot-assisted surgery and bilateral
teleoperation, the availability of reliable interaction force information has proved to be …
teleoperation, the availability of reliable interaction force information has proved to be …
Neural network enhanced robot tool identification and calibration for bilateral teleoperation
In teleoperated surgery, the transmission of force feedback from the remote environment to
the surgeon at the local site requires the availability of reliable force information in the …
the surgeon at the local site requires the availability of reliable force information in the …
Deep neural network approach in robot tool dynamics identification for bilateral teleoperation
For bilateral teleoperation, the haptic feedback demands the availability of accurate force
information transmitted from the remote site. Nevertheless, due to the limitation of the size …
information transmitted from the remote site. Nevertheless, due to the limitation of the size …
End-effector force and joint torque estimation of a 7-DoF robotic manipulator using deep learning
When a mobile robotic manipulator interacts with other robots, people, or the environment in
general, the end-effector forces need to be measured to assess if a task has been completed …
general, the end-effector forces need to be measured to assess if a task has been completed …
A recurrent convolutional neural network approach for sensorless force estimation in robotic surgery
A Marban, V Srinivasan, W Samek, J Fernández… - … Signal Processing and …, 2019 - Elsevier
Providing force feedback as relevant information in current Robot-Assisted Minimally
Invasive Surgery systems constitutes a technological challenge due to the constraints …
Invasive Surgery systems constitutes a technological challenge due to the constraints …
Compensating uncertainties in force sensing for robotic-assisted palpation
Force sensing in robotic-assisted minimally invasive surgery (RMIS) is crucial for performing
dedicated surgical procedures, such as bilateral teleoperation and palpation. Due to the bio …
dedicated surgical procedures, such as bilateral teleoperation and palpation. Due to the bio …
Neural network based inverse dynamics identification and external force estimation on the da Vinci Research Kit
Most current surgical robotic systems lack the ability to sense tool/tissue interaction forces,
which motivates research in methods to estimate these forces from other available …
which motivates research in methods to estimate these forces from other available …
Neural-network-based contact force observers for haptic applications
AC Smith, F Mobasser… - IEEE Transactions on …, 2006 - ieeexplore.ieee.org
In the majority of robotic and haptic applications, including manipulation and human-robot
interaction, contact force needs to be monitored and controlled. Transparent implementation …
interaction, contact force needs to be monitored and controlled. Transparent implementation …
Characterization of real-time haptic feedback from multimodal neural network-based force estimates during teleoperation
Z Chua, AM Okamura - 2022 IEEE/RSJ International …, 2022 - ieeexplore.ieee.org
Force estimation using neural networks is a promising approach to enable haptic feedback
in minimally invasive surgical robots without end-effector force sensors. Various network …
in minimally invasive surgical robots without end-effector force sensors. Various network …
A Semi-linearized Approach for Dynamic Identification of Manipulator Based on Nonlinear Friction Model
Y Zhou, Z Li, X Zhang, Y Li… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Accurate identification of manipulator dynamics parameters is crucial for achieving precise
control and optimal performance in various robotic applications. Existing methods primarily …
control and optimal performance in various robotic applications. Existing methods primarily …