Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation
Zonghe Chua,Allison M. Okamura,Zonghe Chua,Allison M. Okamura
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested in real time with surgical-like manipulations. Thus, questions remain about the real-time transparency and stability of force feedback from neural network-based ...
