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Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vessel-aware manipulation, but collecting diverse tactile data on physical hardware is costly, time-consuming, and can degrade soft vision-based tactile sensors. We present a robot-assisted sliding-palpation framework in which a calibrated digital twin generates labelled tactile sequences, reducing reliance on real-world data. The twin models sensor-vessel contact, is calibrated against real palpation trajectories using Bayesian-optimisation-based domain adaptation, and is randomised over

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