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…with robots on the surface of the
working space. To adapt to different working
environments, the touch detection method can
enable humans to interact with robots by touch
in different human-robot teaming environments
such as flat, curvy, convex, and concave surfaces
with a single commercial RGB-D camera.
Fingertips are detected with a convolutional
neural…
https://www.wichita.edu/_archive/services/mcnair/Journals/Volume27Journal21-22.pdf
