書誌事項
- タイトル別名
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- Force sensing by string vibration for 5 mm forceps with a flexible joint
抄録
<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>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2022 (0), 1P1-L03-, 2022
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390294562484321536
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可