External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist.
Nural YilmazMerve BazmanUgur TümerdemPublished in: IROS (2018)
Keyphrases
- external force
- external forces
- object manipulation
- active contours
- manipulation tasks
- position control
- vector field
- gradient vector flow
- mobile robot
- force field
- active contour model
- contact force
- robotic systems
- end effector
- surgical robot
- master slave
- intraoperative
- surgical instruments
- finite element analysis
- electric field
- robot assisted
- robot control
- deformable models