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This paper proposes a novel Cosserat rod model based method to estimate contact forces based on the shape analysis of the catheter. We simplify the original Cosserat rod model to achieve real-time estimation of the force magnitude and directions applied to the catheter tip. The simplified model contains a set of arithmetic equations, which can be rapidly solved using an iterative optimization algorithm...
To efficiently explore a surface using the sense of touch, a novel contact sensing finger was created and a surface following control algorithm for the finger was devised. Based on the accurate estimation of contact locations, and the direction and magnitude of the normal and tangential forces, the finger can robustly and rapidly follow surfaces with large change in curvature while maintaining a desired...
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