A continuum body force sensor designed for flexible surgical robotics devices

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

25 Citations (Scopus)

Abstract

This paper presents a novel three-axis force sensor based on optical photo interrupters and integrated with the robot arm STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) to measure external interacting forces and torques. The ring-shape bio-compatible sensor presented here embeds the distributed actuation and sensing system of the STIFF-FLOP manipulator and is applicable to the geometry of its structure as well to the structure of any other similar soft robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a stiffness sensor matrix for real-time estimation of force and torque components and confirm the usefulness of the proposed optical sensing approach.

Original languageEnglish
Title of host publicationEngineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3711-3714
Number of pages4
ISBN (Print)9781424479290
DOIs
Publication statusPublished - 2 Nov 2014
Event2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 - Chicago, United States
Duration: 26 Aug 201430 Aug 2014

Conference

Conference2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Country/TerritoryUnited States
CityChicago
Period26/08/201430/08/2014

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