TY - GEN
T1 - Tendon sheath analysis for estimation of distal end force and elongation
AU - Low, Soon Chiang
AU - Phee, Soo Jay
AU - Valdastri, Pietro
AU - Menciassi, Arianna
AU - Dario, Paolo
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Cable actuation
KW - Surgical robots
KW - Tendon sheath
UR - http://www.scopus.com/inward/record.url?scp=70350482915&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350482915&partnerID=8YFLogxK
U2 - 10.1109/AIM.2009.5229991
DO - 10.1109/AIM.2009.5229991
M3 - Conference contribution
AN - SCOPUS:70350482915
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 332
EP - 337
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -