Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots

• Main Authors: Lai, Wenjie, Cao, Lin, Xu, Zhilin, Phan, Phuoc Thien, Shum, Ping, Phee, Soo Jay
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Haptic Sensing; Fiber Bragg Gratings
• Online Access: https://hdl.handle.net/10356/137867
• Institution: Nanyang Technological University

Accurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for...