Development of an Optic Fiber-Based Torque Sensor With a Torsion-Translation Conversion Flexure

Shi, Chaoyang; Lai, Dewei; Tang, Zhongxin; Yang, Zhan

doi:10.1109/jsen.2021.3127228

Cited by 12 publications

(2 citation statements)

References 32 publications

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“…Other solutions include an added sensitive element near the E-E of the tool (see zone near E-E, Figure 1) [6,31,32]. In this case, the errors in the signal data of the sensor are reduced, but problems emerge during the sterilization process of the electronic components.…”

Section: Problem Statement: Force Feedback In Robotic Surgerymentioning

confidence: 99%

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

Muscolo

Fiorini

2023

Machines

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Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers.

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Section: Problem Statement: Force Feedback In Robotic Surgerymentioning

confidence: 99%

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

Muscolo

Fiorini

2023

Machines

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“…Future research will integrate the distal force sensor and the body shape sensor based on fiber Bragg grating (FBG) technology [ 12 , 13 , 49 , 50 ] into the continuum manipulator. Such integration supports implementing a tailored closed-loop controller and facilitates achieving more precise and stable operating stiffness control.…”

Section: Discussionmentioning

confidence: 99%

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Duan,

Zhang,

Qian

et al. 2024

Cyborg Bionic Syst

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Continuum manipulators can conform to curvilinear paths and manipulate objects in complex environments, which makes it emerging to be applied in minimally invasive surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages of surgery to achieve safe access or stable and precise operation. This work proposes an operating stiffness controller (OSC) for the typical tendon-driven continuum manipulator based on the variable impedance control method with Lagrangian dynamic modeling. This controller can adjust the operating stiffness by modifying the driving forces along the driving tendons of the continuum manipulator without changing its material or structure. The proposed OSC converts the damping and stiffness matrices of the impedance control into variable parameters. This merit allows it to dynamically adjust the operating stiffness of the continuum manipulator according to the desired constant or time-varying stiffness. Furthermore, the OSC stability can be proven based on a Lyapunov function, and its stiffness control performances have been analyzed and evaluated in both simulations and experiments. The OSC controller generated average relevant error values of 7.82% and 3.09% for the operating stiffness control experiments with constant and time-varying desired stiffness, respectively. These experimental results indicate that the OSC has high accuracy, stability, and strong robustness in the operating stiffness control tasks.

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Design and optimization of a joint torque sensor with small crosstalk error for robots

Bing

Cai

2022

Measurement

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Development of an Optic Fiber-Based Torque Sensor With a Torsion-Translation Conversion Flexure

Cited by 12 publications

References 32 publications

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Design and optimization of a joint torque sensor with small crosstalk error for robots

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