{"id":"W3097556244","doi":"10.1109/tmrb.2020.3034258","title":"Estimating Tip Contact Forces for Concentric Tube Continuum Robots Based on Backbone Deflection","year":2020,"lang":"en","type":"article","venue":"IEEE Transactions on Medical Robotics and Bionics","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":38,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"","keywords":"Concentric; Robot; Deflection (physics); Contact force; Computer science; Cascade; Artificial intelligence; Tube (container); Simulation; Engineering; Mechanical engineering; Physics; Optics; Geometry; Mathematics; Classical mechanics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001260883,0.0002006502,0.0002441883,0.00005326781,0.0002263192,0.00006234296,0.000112511,0.0001929304,0.00004688482],"category_scores_gemma":[0.00005682078,0.0001866974,0.0001033097,0.0002708277,0.00005152226,0.00004498321,0.000001220658,0.000338413,0.00001496853],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00004826373,"about_ca_system_score_gemma":0.00005391314,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000004889479,"about_ca_topic_score_gemma":0.0000175735,"domain_scores_codex":[0.9988343,0.00001608745,0.0003179043,0.0002630379,0.0002927888,0.0002759023],"domain_scores_gemma":[0.9989779,0.0004286583,0.00004156155,0.0001337982,0.00006190386,0.0003562038],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00002966698,0.00007984477,0.00001367821,0.00008795437,0.00003451721,0.000001936013,0.0000441458,0.9857152,0.0005438431,0.0004342424,0.0005473773,0.01246761],"study_design_scores_gemma":[0.001038029,0.0003100196,0.00003029578,0.00008752362,0.00007136584,0.00000354804,0.0000195859,0.99481,0.002513147,0.0001036213,0.0008068722,0.0002059262],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.003026317,0.00007444554,0.9921326,0.003381454,0.0006170755,0.000394589,0.00003269051,0.000230403,0.000110436],"genre_scores_gemma":[0.9695029,0.0001182729,0.028967,0.001105387,0.0001723497,0.00005784188,0.00001720683,0.0000405945,0.00001840001],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.9664766,"threshold_uncertainty_score":0.7613298,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01928124834128577,"score_gpt":0.2504541125809397,"score_spread":0.2311728642396539,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}