A three-axial force sensor based on Fiber Bragg Gratings for surgical robots

• Main Authors: Lai, Wenjie, Cao, Lin, Liu, Jiajun, Tjin, Swee Chuan, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering::Robots; Force Sensor; Haptic Feedback; Fiber Bragg Gratings; Surgical Robots
• Online Access: https://hdl.handle.net/10356/147783
• Institution: Nanyang Technological University

Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work,...