Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement.
Yiang LuBin LiWei ChenJunyan YanShing Shin ChengJiangliu WangJianshu ZhouQi DouYun-hui LiuPublished in: CoRR (2024)
Keyphrases
- shape estimation
- shape model
- shape representation
- regularized regression
- deformable shapes
- deformable models
- force field
- maximum likelihood criterion
- adaptive control
- vector field
- dense correspondences
- dense motion estimation
- shape features
- shape descriptors
- path planning
- shape matching
- articulated objects
- shape prior
- degrees of freedom
- deformable surface
- d objects
- control system
- contact force
- deformable template
- sparse representation
- finite element model
- high dimensional