In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the ...
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While domain adaptation (DA) methods have made significant strides in remote sensing community, most current works assume that the source domain labels are accurate. However, limited emphasis has been placed on the sc...
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In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the ...
In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks.
Bone cutting process is an essential and vital step in orthopedics and joint replacement surgery, a slight mistake in it may damage spinal cord and nerve roots, cause limb dysfunction. Since bone cells have bioactivit...
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ISBN:
(纸本)9781467391085
Bone cutting process is an essential and vital step in orthopedics and joint replacement surgery, a slight mistake in it may damage spinal cord and nerve roots, cause limb dysfunction. Since bone cells have bioactivities, they are very sensitive to temperature, when temperature exceeds 47°C, they begin to thermal necrosis. Heat generation during bone cutting will cause temperature rising in cutting area, finally burn the cutting surface. Therefore, this paper adopts fresh porcine femur as experimental material to analyze the influence of rotation speed, feed speed and cutting depth on cutting temperature rise, provides a theoretical basis for optimizing cutting parameters and controlling cutting temperature.
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