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- W2027267236 abstract "This paper has presented a new vision-based force-sensing framework that allows to characterize the forces applied on a magnetic microrobot in an endovascular-like environment. Especially, unlike common approaches used with optical microscopy where orthographic projection model are used, we consider in this paper the weak-perspective model. The proposed vision-based force characterization allows to retrieve the three dimensional (3D) translational velocities and accelerations of a microrobot viewed from a digital microscope. Hence, thanks to the dynamic model the external forces are estimated on-line. The framework was applied and validated for a magnetic microrobot navigating in a viscous flow. Experimental results in two different environments illustrate the efficiency of the proposed method." @default.
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- W2027267236 date "2014-05-01" @default.
- W2027267236 modified "2023-09-27" @default.
- W2027267236 title "Vision-based force sensing of a magnetic microrobot in a viscous flow" @default.
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- W2027267236 doi "https://doi.org/10.1109/icra.2014.6907133" @default.
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