Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/98437
Title: Force feedback without sensor : a preliminary study on haptic modeling
Authors: Sun, Zhenglong
Wang, Zheng
Phee, Soo Jay
Issue Date: 2012
Source: Sun, Z., Wang, Z., & Phee, S. J. (2012). Force feedback without sensor: A preliminary study on haptic modelling. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 1182-1187.
Series/Report no.: Proceedings of the IEEE RAS and EMBS international conference on biomedical robotics and biomechatronics
Abstract: Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic surgery. Viscoelastic behavior of the gastrointestinal organ/tissue needs to be taken into consideration. Hence, we proposed a modified haptic model based on commonly-used lumped models, in order to restore the tool-tissue interaction force by using the robot motion. Performance of this approach was evaluated by ex-vivo experiments. The proposed model is capable of approximating the interaction force. Discussions were made on possible limitations and problems in the implementation of such approach.
URI: https://hdl.handle.net/10356/98437
http://hdl.handle.net/10220/12446
DOI: 10.1109/BioRob.2012.6290279
Rights: © 2012 IEEE.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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