ICRA 2011 Paper Abstract


Paper TuA108.5

Tanaka, Nobuyuki (Osaka University), Higashimori, Mitsuru (Osaka University), Kaneko, Makoto (Osaka University)

Non-Contact Stiffness Sensing with Deformation Dependent Force Calibration

Scheduled for presentation during the Regular Sessions "Calibration and Identification I" (TuA108), Tuesday, May 10, 2011, 09:20−09:35, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Calibration and Identification, Medical Robots and Systems


Non-contact stiffness sensor is often utilized especially for medical fields due to its advantage of avoiding damage to tissues and keeping sanitary. However, it is hard to measure the force accurately, because the fluid jet based force much depends upon the shape after deformation of object. This paper proposes an innovative approach where the external force is adaptively calibrated based on the deformation of object so that we can evaluate the internal stiffness parameters more accurately than that of conventional approaches. It is shown that the proposed method can improve the accuracy of force application with even 100% at an extreme case.



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