Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.29396v1 Announce Type: new Abstract: Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vessel-aware manipulation, but collecting diverse tactile data on physical hardware is costly, time-consuming, and can degrade soft vision-based tactile sensors. We present a robot-assisted sliding-palpation framework in which a calibrated digital twin generates labelled tactile sequences, reducing reliance on real-world data.