Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator.
Yesung YiJung-Hwan YounKi-Uk KyungDong-Soo KwonPublished in: IROS (2022)
Keyphrases
- inverse kinematics
- joint angles
- degrees of freedom
- end effector
- minimally invasive surgery
- laparoscopic surgery
- robot manipulators
- sensor networks
- robot arm
- position and orientation
- human arm
- motion planning
- path planning
- sensor data
- robot assisted
- control system
- pose estimation
- three dimensional
- motion capture
- visual servoing
- control scheme
- closed loop
- human body
- master slave
- vision system