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
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2020
• 主題: Engineering::Mechanical engineering::Robots; Haptic Sensing; Fiber Bragg Gratings
• 在線閱讀: https://hdl.handle.net/10356/137867
• 機構: 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...