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dc.contributor.authorLai, Wenjieen_US
dc.contributor.authorCao, Linen_US
dc.contributor.authorXu, Zhilinen_US
dc.contributor.authorPhan, Phuoc Thienen_US
dc.contributor.authorShum, Pingen_US
dc.contributor.authorPhee, Soo Jayen_US
dc.identifier.citationLai, W., Cao, L., Xu, Z., Phan, P. T., Shum, P., & Phee, S. J. (2018). Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots. Proceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA), 5349-5355. doi:10.1109/ICRA.2018.8461090en_US
dc.description.abstractAccurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for the first time, proposes to measure the compression force on the sheath at the distal end so that the tension force on the tendon, which equals the compression force on the sheath, can be obtained. A new force sensor, i.e., a nitinol tube attached with an optical Fiber Bragg Grating (FBG) fiber, is proposed to measure the compression force on the sheath. This sensor, with similar diameter and configuration (hollow) as the sheath, can be compactly integrated with TSMs and surgical end-effectors. In this paper, mechanics analysis and verification tests are presented to reveal the relationship between the tension force on the tendon and the compression force on the sheath. The proposed force sensor was calibrated in tests with a sensitivity of 24.28 pm/N and integrated with a tendon-sheath driven grasper to demonstrate the effectiveness of the proposed approach and sensor. The proposed approach and sensor can also be applied for a variety of TSMs-driven systems, such as robotic fingers/hands, wearable devices, and rehabilitation devices.en_US
dc.description.sponsorshipNRF (Natl Research Foundation, S’pore)en_US
dc.rights© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works. The published version is available at:
dc.subjectEngineering::Mechanical engineering::Robotsen_US
dc.titleDistal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robotsen_US
dc.typeConference Paperen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.conference2018 IEEE International Conference on Robotics and Automation (ICRA)en_US
dc.contributor.organizationCenter for Optical Fiber Technologyen_US
dc.contributor.researchRobotics Research Centreen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsHaptic Sensingen_US
dc.subject.keywordsFiber Bragg Gratingsen_US
dc.citation.conferencelocationBrisbane, Australiaen_US
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