Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
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.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.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.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.description.versionAccepted versionen_US
dc.subject.keywordsFlexible Endoscopic Surgical Robotsen_US
dc.subject.keywordsHaptic Force Sensorsen_US
item.fulltextWith Fulltext-
Appears in Collections:MAE Journal Articles
Files in This Item:
File Description SizeFormat 
ABME_ final.pdf7.03 MBAdobe PDFView/Open

Citations 20

Updated on Mar 10, 2021

Citations 20

Updated on Mar 8, 2021

Page view(s)

Updated on Sep 17, 2021

Download(s) 50

Updated on Sep 17, 2021

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.