Tendon Sheath Analysis for Estimation of Distal End Force and Elongation

被引：31

作者：

Chiang, Low Soon ^{[1
]}

Jay, Phee Soo ^{[1
]}

Valdastri, Pietro

Menciassi, Arianna ^{[2
]}

Dario, Paolo ^{[2
]}

机构：

[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Robot Res Ctr, Blk N3-01A-01,50 Nanyang Ave, Singapore 639798, Singapore

[2] CRIM Lab, I-56025 Pontedera, Italy

来源：

2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2009年

基金：

英国医学研究理事会;

关键词：

Tendon sheath; cable actuation; surgical robots;

D O I：

10.1109/AIM.2009.5229991

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Tendon sheath actuation can be found in many applications, particularly in robotic hand and surgical robots. Due to friction between the tendon and sheath, many undesirable characteristic such as backlash, hysteresis and non-linearity are present. It is desirable to know the end effector force and elongation of the tendon to control the system effectively, but it is not always feasible to fix sensors at the end effector. A method to estimate the end effector parameters using only a force and position sensor at the proximal site is given. An analytical study is presented and experiments are reported to support the result, showing a max full scale error of approximately 7%. This result is achieved if the shape of the sheath remains the same and buckling is negligible. The results presented in this study could contribute towards haptic development in robotics surgery.

引用

页码：332 / +

页数：2