Online Adaptive Identification and Switching of Soft Contact Model Based on ART-II Method
Yi Liu,Di Wu,Fengtao Han,Jing Guo,Zhaoshui He,Chao Liu,Yi Liu,Di Wu,Fengtao Han,Jing Guo,Zhaoshui He,Chao Liu
In order to obtain a high-precision contact model that can properly describe the target soft tissue, this paper proposes a hybrid soft contact model based on a clustering algorithm ART-II, which selects the most suitable soft contact model according to the surgical environment. The least-square method is used to identify the parameters of the model online. In the experiments, different parts of an...
