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About this paper
Zonghe Chua, Anthony M. Jarc, Allison M. Okamura
The authors estimate contact force in robot-assisted surgery from a camera image and robot-state data, without a force sensor at the tool tip. Their single-frame model combines image features with kinematic and force-torque state estimates and is compared with vision-only and state-only models. It has the lowest mean RMSE, 0.310 N, across ten configurations, but not every test condition.
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