An integrated sensor-model approach for haptic feedback of flexible endoscopic robots

Haptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) a...

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Bibliographic Details
Main Authors: Lai, Wenjie, Cao, Lin, Tan, Rex Xiao, Tan, Yung Chuen, Li, Xiaoguo, Phan, Phuoc Thien, Tiong, Anthony Meng Huat, Tjin, Swee Chuan, Phee, Soo Jay
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
Subjects:
Online Access:https://hdl.handle.net/10356/137930
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Institution: Nanyang Technological University
Language: English