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Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor

Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation al...

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Detalles Bibliográficos
Autores principales: Donat, Heiko, Gu, Jiecong, Steil, Jochen J.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8521199/
https://www.ncbi.nlm.nih.gov/pubmed/34671648
http://dx.doi.org/10.3389/frobt.2021.734033