Abstract
This paper describes the method of surface sensing using the shape sensor Flexible Sensor Tube (FST). The sensor consists of a lot of links and joints with angle sensor, and it can measure its posture. The measurement of an object was performed by tracing the object with FST. Then it estimated the surface geometry of the object with the result of the FST postures data. We verified the proposed method via experiment. As a result, it was achieved to estimate the surface shape of the object.
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