Contact Force Measurement of Instruments for Force-Feedback on a Surgical Robot: Acceleration Force Cancellations Based on Acceleration Sensor Readings

Shimachi, Shigeyuki; Kameyama, Fumie; Hakozaki, Yoshihide; Fujiwara, Yasunori

doi:10.1007/11566489_13

Cited by 5 publications

(3 citation statements)

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“…The system presented here has not only the potential to simplify the traceable measurement of forces and torques, but also to improve the measurement uncertainty in the force/torque range covered by the device. It is designed for measuring forces and torques in a range of ±2 N and ±0.1 N• m respectively, including applications in the Lorentz force velocimetry [18,19], micromachining [20] and biomechatronics [21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

A self-calibrating multicomponent force/torque measuring system

Marangoni

Schleichert

Rahneberg

et al. 2018

Meas. Sci. Technol.

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A multi-component self-calibrating force and torque sensor is presented. In this system, the principle of a Kibble balance is adapted for the traceable force and torque measurement in three orthogonal directions. The system has two operating modes: the velocity mode and the force/torque sensing mode. In the velocity mode, the calibration of the sensor is performed, while in the force/torque sensing mode, forces and torques are measured by using the principle of the electromagnetic force compensation. Details about the system are provided, with the main components of the sensor and a description of the operational procedure. A prototype of the system is currently being implemented for measuring forces and torques in a range of ±2 N and ±0,1 Nm respectively. A maximal relative expanded measurement uncertainty (k=2) of 10•10-5 is expected for the force and torque measurements.

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Section: Introductionmentioning

confidence: 99%

A self-calibrating multicomponent force/torque measuring system

Marangoni

Schleichert

Rahneberg

et al. 2018

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…Alternatively, numerous studies have been carried out on the development of multi-axial force measurement technologies [20][21][22][23][24][25][26][27][28] that involved different arrangements of multiple strain gauges and various designs of the load transferring elements to achieve valued outcomes. Similarly, several three directional contact force measurement systems have been studied and implemented for different applications like surgical robots [29], tactile sensors [30,31], clinical examination [32], and measurement of ground reaction force (GRF) [33,34]. Nevertheless, the dimensions of most of these multi axial force sensors are not small enough to be placed in the constricted space where the blade shroud contact forces must be measured.…”

Section: Introductionmentioning

confidence: 99%

Design and Calibration of a Tri-Directional Contact Force Measurement System

2021

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In low pressure turbine stages, adjacent blades are coupled to each other at their tip by covers, called shrouds. Three-dimensional periodic contact forces at shrouds strongly affect the blade vibration level as energy is dissipated by friction. To validate contact models developed for the prediction of nonlinear forced response of shrouded blades, direct contact force measurement during dynamic tests is mandatory. In case of shrouded blades, the existing unidirectional and bi-directional contact force measurement methods need to be improved and extended to a tri-directional measurement of shroud contact forces for a comprehensive and more reliable validation of the shroud contact models. This demands an accurate and robust measurement solution that is compatible with the nature and orientation of the contact forces at blade shrouds. This study presents a cost effective and adaptable tri-directional force measurement system to measure static and dynamic contact forces simultaneously in three directions at blade shrouds during forced response tests. The system is based on three orthogonal force transducers connected to a reference block that will eventually be put in contact with the blade shroud in the test rig. A calibration process is outlined to define a decoupling matrix and its subsequent validation is demonstrated in order to evaluate the effectiveness of the measurement system to measure the actual contact forces acting on the contact.

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“…With all these configurations, the acceleration forces are estimated by the robot hand motion. However, in a fourth version (7), estimation of the acceleration forces is performed by an acceleration sensor; this reportedly results in cancellation of the inertia force changes up to about 10-20 Hz.…”

mentioning

confidence: 99%