We are happy to announce that our paper:
Data-Driven Estimation of Forces Along the Backbone of Concentric Tube Continuum Robots - H.Donat, P. Mohammadi, and J. Steil
has been accepted.
We present our latest results on contact force estimation for continuum robots at ICRA 2023 at ExCeL London, from May 29 to June 2, 2023.
This paper presents a novel approach to estimate multiple external forces exerted on a continuum robot from its current shape with nearly two orders of magnitude faster convergence than the current state-of-the-art approaches.
This method could be used in the future to provide detailed force feedback to surgeons, leading to saver minimally invasive robotic surgery.
We would like to extend our gratitude to Mr. Yazan Soliman who helped us with commendable dedication in conducting the experimental evaluation of the paper.