Optimal geometric structures of force/torque sensors
International Journal of Robotics Research
Matrix computations (3rd ed.)
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Hyper-finger for Remote Minimally Invasive Surgery in Deep Area
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
The Role of Force Feedback in Surgery: Analysis of Blunt Dissection
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Sensor/Actuator Asymmetries in Telemanipulators: Implications of Partial Force Feedback
VR '06 Proceedings of the IEEE conference on Virtual Reality
Practical Kinematics for Real-Time Implementation of Continuum Robots
IEEE Transactions on Robotics
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots
IEEE Transactions on Robotics
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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.