Name
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. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/EMBC.2014.6944429 | EMBC |
Keywords | Field | DocType |
medical robotics,force sensors,real-time torque component estimation,ring-shape biocompatible sensor,stiffness sensor matrix,real-time force component estimation,calibration procedures,matrix algebra,distributed actuation,optical sensing approach,robot arm,surgical operations,flexible manipulators,stiff-flop manipulator,elasticity,optical photo interrupters,stiffness controllable flexible and learnable manipulator,surgery,geometry,three-axis force sensor | Body force,Robotic arm,Algorithm design,Torque,Matrix (mathematics),Computer science,Simulation,Stiffness,Control engineering,Calibration,Mobile manipulator | Conference |
Volume | ISSN | Citations |
2014 | 1557-170X | 5 |
PageRank | References | Authors |
0.58 | 9 | 9 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yohan Noh | 1 | 113 | 15.61 |
| Emanuele Lindo Secco | 2 | 14 | 1.27 |
| Sina Sareh | 3 | 5 | 0.58 |
| Helge A. Würdemann | 4 | 9 | 2.09 |
| Angela Faragasso | 5 | 9 | 1.13 |
| Junghwan Back | 6 | 29 | 5.25 |
| Hongbin Liu | 7 | 42 | 3.99 |
| Elizabeth Sklar Rozier | 8 | 472 | 59.88 |
| Kaspar Althoefer | 9 | 847 | 112.87 |