Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/137930
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dc.contributor.authorLai, Wenjieen_US
dc.contributor.authorCao, Linen_US
dc.contributor.authorTan, Rex Xiaoen_US
dc.contributor.authorTan, Yung Chuenen_US
dc.contributor.authorLi, Xiaoguoen_US
dc.contributor.authorPhan, Phuoc Thienen_US
dc.contributor.authorTiong, Anthony Meng Huaten_US
dc.contributor.authorTjin, Swee Chuanen_US
dc.contributor.authorPhee, Soo Jayen_US
dc.date.accessioned2020-04-20T01:27:16Z-
dc.date.available2020-04-20T01:27:16Z-
dc.date.issued2019-
dc.identifier.citationLai, W., Cao, L., Tan, R. X., Tan, Y. C., Li, X., Phan, P. T., … Phee, S. J. (2020). An integrated sensor-model approach for haptic feedback of flexible endoscopic robots. Annals of Biomedical Engineering, 48(1), 342-356. doi:10.1007/s10439-019-02352-8en_US
dc.identifier.issn0090-6964en_US
dc.identifier.urihttps://hdl.handle.net/10356/137930-
dc.description.abstractHaptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) an integrated sensor-model approach to estimate forces on other TSMs of that arm. With a robust and simple structure, a temperature-compensated sensor can be mounted on the distal sheath to measure forces applied by the TSM. This proposed sensor was integrated with a Ø4.2 mm articulated robotic arm driven by six TSMs, with a measurement error of 0.37 N in this work. The measurement from the single sensor was used to identify parameters in the force-transmission models of all other TSMs in the robot, realizing a one-sensor-for-all-distal-forces measurement method. The sensor-model approach could accurately estimate the distal force with an RMSE of 0.65 N. An animal study was carried out to demonstrate the sensor's feasibility in real-life surgery. The sensor-model approach presented a robust, space-saving, and cost-effective solution for haptic feedback of endoscopic robots without any assumption on the shapes of the robot.en_US
dc.description.sponsorshipNRF (Natl Research Foundation, S’pore)en_US
dc.language.isoenen_US
dc.relation.ispartofAnnals of Biomedical Engineeringen_US
dc.rights© 2019 Biomedical Engineering Society. All rights reserved. This paper was published in Annals of Biomedical Engineering and is made available with permission of Biomedical Engineering Society.en_US
dc.subjectEngineering::Mechanical engineering::Robotsen_US
dc.titleAn integrated sensor-model approach for haptic feedback of flexible endoscopic robotsen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.organizationThe Photonics Instituteen_US
dc.contributor.researchRobotics Research Centreen_US
dc.contributor.researchTemasek Laboratoriesen_US
dc.identifier.doi10.1007/s10439-019-02352-8-
dc.description.versionAccepted versionen_US
dc.identifier.pmid31485875-
dc.identifier.scopus2-s2.0-85072176016-
dc.identifier.issue1en_US
dc.identifier.volume48en_US
dc.identifier.spage342en_US
dc.identifier.epage356en_US
dc.subject.keywordsFlexible Endoscopic Surgical Robotsen_US
dc.subject.keywordsHaptic Force Sensorsen_US
item.grantfulltextopen-
item.fulltextWith Fulltext-
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