Force sensing with 1 mm fiber Bragg gratings for flexible endoscopic surgical robots

• Main Authors: Lai, Wenjie, Cao, Lin, Tan, Rex Xiao, Phan, Phuoc Thien, Hao, Jianzhong, Tjin, Swee Chuan, Phee, Soo Jay
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Endoscopic Surgical Robots; Fiber Bragg Gratings
• Online Access: https://hdl.handle.net/10356/137856
• Institution: Nanyang Technological University

This article presents a novel force sensor to detect the distal force of tendon-sheath mechanisms (TSMs) in flexible endoscopic surgical robots. We propose to measure the compression force on the sheath at the distal end so that the tension force on the tendon, which equals the compression force on...