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

• 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: Engineering::Mechanical engineering::Robots; Flexible Endoscopic Surgical Robots; Haptic Force Sensors
• Online Access: https://hdl.handle.net/10356/137930
• Institution: Nanyang Technological University

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...