Real-time haptic characterisation of Hunt-Crossley model based on radial basis function neural network for contact environment.
J Mech Behav Biomed Mater
; 157: 106611, 2024 Sep.
Article
em En
| MEDLINE
| ID: mdl-38852243
ABSTRACT
Dynamic soft tissue characterisation is an important element in robotic minimally invasive surgery. This paper presents a novel method by combining neural network with recursive least square (RLS) estimation for dynamic soft tissue characterisation based on the nonlinear Hunt-Crossley (HC) model. It develops a radial basis function neural network (RBFNN) to compensate for the error caused by natural logarithmic factorisation (NLF) of the HC model for dynamic RLS estimation of soft tissue properties. The RBFNN weights are estimated according to the maximum likelihood principle to evaluate the probability distribution of the neural network modelling residual. Further, by using the linearisation error modelled by RBFNN to compensate for the linearised HC model, an RBFNN-based RLS algorithm is developed for dynamic soft tissue characterisation. Simulation and experimental results demonstrate that the proposed method can effectively model the natural logarithmic linearisation error, leading to improved accuracy for RLS estimation of the HC model parameters.
Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Redes Neurais de Computação
Idioma:
En
Revista:
J Mech Behav Biomed Mater
Assunto da revista:
ENGENHARIA BIOMEDICA
Ano de publicação:
2024
Tipo de documento:
Article
País de afiliação:
Austrália
País de publicação:
Holanda