Supporting data for "A Robot Joint Prototype of Tensegrity Manipulator for Single-pixel Ca

Experimental results from a thesis on developing a tensegrity robot joint for compliant manipulation. The dataset includes path-following test results, stiffness control data, ultrasound scanning videos, and raw light intensity measurements for single-pixel imaging reconstruction. It was authored by Yifeng Hao and last updated on 2026-05-26.

Use Cases

• Benchmarking path-following algorithms based on the reported root-mean-square error (RMSE) below 1.06 mm.
• Developing learning-based controllers for closed-loop position control using the generated joint configurations.
• Researching stiffness control in robotic joints based on the control RMSE of 0.0156 N/mm.
• Evaluating the impact of closed-loop stiffness control on ultrasound image quality during scanning tasks.
• Testing single-pixel imaging reconstruction frameworks using the included raw light intensity measurements.

Strengths

• Includes quantitative performance metrics, such as a path-following RMSE below 1.06 mm and a stiffness control RMSE of 0.0156 N/mm.
• Contains multiple data modalities: experimental results, ultrasound video, and raw sensor measurements.
• Describes a novel integration of fiber-Bragg-grating (FBG) sensing for real-time shape feedback.

Limitations

• Column-level documentation is absent; field semantics must be inferred after download.
• Row count is unknown, which may limit suitability assessment.
• Last updated 2026-05-26; freshness should be verified.

Provenance

Source

figshare

Collection Method

Experimental results from a thesis project.

Freshness

2026-05-26