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 language | English |
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Title of host publication | Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3711-3714 |
Number of pages | 4 |
ISBN (Print) | 9781424479290 |
DOIs | |
Publication status | Published - 2 Nov 2014 |
Event | 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 - Chicago, United States Duration: 26 Aug 2014 → 30 Aug 2014 |
Conference
Conference | 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 |
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Country/Territory | United States |
City | Chicago |
Period | 26/08/2014 → 30/08/2014 |