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

• المؤلفون الرئيسيون: Lai, Wenjie, Cao, Lin, Xu, Zhilin, Phan, Phuoc Thien, Shum, Ping, Phee, Soo Jay
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: Conference or Workshop Item
• اللغة: English
• منشور في: 2020
• الموضوعات: Engineering::Mechanical engineering::Robots; Haptic Sensing; Fiber Bragg Gratings
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/137867

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...