Sensing slip of grasped wet, conformable objects
作者： Natalie Burkhard , Ryan Steger , Mark Cutkosky
DOI: 10.1109/IROS.2017.8206465
关键词:
摘要: Grasping and manipulation of biological tissue are crucial processes during minimally invasive surgery (MIS). To enable atraumatic reliable grasping, it would be useful to detect slip the grasped object. Because is moist, conformable, delicate, because sensor must work in a surgical environment, this application requires departure from conventional sensing methods. We present technology method based on hot-wire anemometry while grasping wet, conformable materials discuss how approach may extended graspers used robot-assisted (RAS). our design results characterization tests as well experimental that demonstrate its ability planar direction compliant objects.
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