-
- KONDO Kentaro
- Tokyo Institute of Technology
-
- UMEZAWA Haruki
- Tokyo Institute of Technology
-
- HARAGUCHI Daisuke
- National Institute of Technology, Tokyo College
-
- ZHOU Dongbo
- Tokyo Institute of Technology
-
- OMATA Toru
- Tokyo Institute of Technology
Bibliographic Information
- Other Title
-
- 弦振動を利用した径5mm柔軟関節鉗子の力センシング
Abstract
<p>In minimally invasive surgery, force sensing for surgical robots is highly desired. To solve this problem, we have proposed a force sensing method using string vibration for wire-driven forceps. The purpose of this study is to apply this method to a 5 mm forceps with a flexible joint. A flexible joint forceps is expected to have smaller friction. However, its maximum wire tension is limited due to its mechanical strength. To extend the measurable range of the wire tension, wire tension amplification mechanism is proposed. Force sensing experiments were conducted using the developed forceps. The results confirmed the effectiveness of the contact force sensing in two axial directions.</p>
Journal
-
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (0), 1P1-L03-, 2022
The Japan Society of Mechanical Engineers
- Tweet
Details 詳細情報について
-
- CRID
- 1390294562484321536
-
- ISSN
- 24243124
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- Crossref
-
- Abstract License Flag
- Disallowed