Distal-end force prediction of tendon-sheath mechanisms for flexible endoscopic surgical robots using deep learning
Accurate haptic feedback is highly challenging for flexible endoscopic surgical robots due to space limitation for sensors on small end-effectors and critical force hysteresis of their tendon-sheath mechanisms (TSMs). This paper proposes a deep learning approach to predicting the distal force of TSM...
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Main Authors: | , , , , |
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Other Authors: | |
Format: | Article |
Language: | English |
Published: |
2020
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Subjects: | |
Online Access: | https://hdl.handle.net/10356/137858 |
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Institution: | Nanyang Technological University |
Language: | English |
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