Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback.
Zhan Fan QuekSamuel B. SchorrIlana NiskyWilliam R. ProvancherAllison M. OkamuraPublished in: ICRA (2015)
Keyphrases
- position control
- contact force
- external forces
- normal direction
- external force
- feedback loop
- robotic manipulator
- control scheme
- force control
- vector field
- active contours
- closed loop
- force field
- finite element model
- master slave
- gradient vector flow
- robot arm
- visual feedback
- control system
- deformable models
- information processing
- control strategies
- geometric properties
- relevance feedback
- finite element analysis
- degrees of freedom
- robotic arm
- electric field
- skin detection
- sensory motor
- skin color
- path planning
- skin surface