基于机器人自动穿刺功能力数据的微小运动时穿刺形态估计

T. Matsuno, Hikaru Murakami, T. Kamegawa, Nanako Sakai, T. Hiraki, Y. Toda
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Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function
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