自动化与信息工程2025，Vol.46Issue(5)：30-37,8.DOI:10.12475/aie.20250504
机器人连续性接触状态估计与软组织异常识别方法
A Method for Robotic Continuous Contact State Estimation and Soft Tissue Abnormality Identification
摘要
Abstract
Aiming at the problems of difficult deformation prediction,unknown contact attributes,discontinuous dynamic models,and low accuracy in abnormal tissue identification during robot-soft tissue interaction,a method for robot continuous contact state estimation and soft tissue abnormality identification is proposed.The contact stiffness is predicted by combining an Extended Kalman Filter with semi-implicit integration.The Hertz contact model and the Coulomb friction model are utilized to perceive the normal contact force and the contact friction force,respectively.An admittance control model incorporating error feedback is constructed to ensure interaction stability,thereby enabling effective identification of abnormal tissues.The effectiveness and robustness of the proposed method were validated through experiments on identifying abnormalities in silicone-based soft tissues and ex vivo porcine liver tissues.关键词
状态估计/异常识别/导纳控制/接触刚度/赫兹接触模型/库伦摩擦模型Key words
state estimation/abnormality identification/admittance control/contact stiffness/Hertz contact model/Coulomb friction model分类
信息技术与安全科学引用本文复制引用
郑昊辰,刘成沛,翟雪倩,吴鸿敏..机器人连续性接触状态估计与软组织异常识别方法[J].自动化与信息工程,2025,46(5):30-37,8.基金项目
国家自然科学青年基金(62203126) （62203126）
粤港科技创新联合项目(2023A0505010014). （2023A0505010014）
