Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 26, Issue 3, Pages 555-561Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2046924
Keywords
Continuum robots; force sensing; haptic feedback; performance index; surgical assistant
Categories
Funding
- National Science Foundation (NSF) [EEC9731748, IIS9801684, 0844969]
- Columbia University internal funds
- Direct For Computer & Info Scie & Enginr [1063750] Funding Source: National Science Foundation
Ask authors/readers for more resources
This paper presents the intrinsic capability of full-wrench estimation of multisegment continuum robots with multiple flexible backbones. Intrinsic-full-wrench estimation refers to the ability of continuum robots to also serve as force and moment sensors by using measurements of axial loads on their backbones. This end-effector-as-sensor approach fulfills the rapidly increasing needs for miniature-robotic-surgical tools with haptic sensing ability subject to various limitations, such as size, magnetic resonance imaging (MRI) compatibility, sterilizability, etc. A performance index for the intrinsic wrench-sensing capability is introduced and evaluated to show how this index can serve as a design guide for continuum robots that provide force sensing.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available