A probabilistic neural network-based bimanual control method with multimodal haptic perception fusion

In the master-slave robot system, single-modal tactile perception has problems such as collision detection delay (>120 ms), force estimation error (>2.3 N), and sensor conflicts, resulting in a 37 % failure rate of robot operations in nuclear decommissioning scenarios and a 19.2 % risk of exce...

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Bibliographic Details

Published in:	Alexandria Engineering Journal
Main Authors:	Xinrui Chi, Zhanbin Guo, Fu Cheng
Format:	Article
Language:	English
Published:	Elsevier 2025-08-01
Subjects:	Probabilistic neural network control Multi-modal tactile perception Hierarchical heterogeneous feature alignment module (HHFA) Dynamic bayesian fusion layer (DBFL)
Online Access:	http://www.sciencedirect.com/science/article/pii/S1110016825007653