A Continuum Body Force Sensor Designed for Flexible Surgical Robotic Devices

Noh, Yohan and Secco, Emanuele Lindo and Sareh, S and Wurdemann, Helge A and Faragasso, Angela and Back, J and Liu, Hongbin and Sklar, Elizabeth and Althoefer, Kaspar (2014) A Continuum Body Force Sensor Designed for Flexible Surgical Robotic Devices. In: International Conference of the IEEE Engineering in Medicine and Biology Society.


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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.

Item Type: Conference or Workshop Item (Paper)
Additional Information and Comments: (c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Emanuele Secco
Date Deposited: 19 May 2016 10:18
Last Modified: 19 May 2016 10:18
URI: https://hira.hope.ac.uk/id/eprint/1184

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