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

• المؤلفون الرئيسيون: Lai, Wenjie, Cao, Lin, Liu, Jiajun, Tjin, Swee Chuan, Phee, Soo Jay
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2021
• الموضوعات: Engineering::Mechanical engineering::Robots; Force Sensor; Haptic Feedback; Fiber Bragg Gratings; Surgical Robots
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/147783
• المؤسسة: 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,...