• Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators

Noh, Yohan, Sareh, Sina, Wurdemann, helge, Liu, Hongbin, Housden, James, Rhode, Kawal and Althoefer, Kaspar, 2015, Journal Article, Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators IEEE Sensors Journal, 16 (6). pp. 1641-1651. ISSN 1530-437X

Abstract or Description:

This paper proposes a force/torque sensor structure that can be easily integrated with a flexible manipulator structure. The sensor’s ring-like structure with its hollow inner section provides ample space for auxiliary components, such as cables and tubes, to be passed through and, hence, is very suitable for integration with tendon-driven and fluid-actuated manipulators. The sensor structure can also accommodate the wiring for a distributed sensor system as well as for diagnostic instruments that may be incorporated in the manipulator. Employing a sensing approach based on optical fibers as done here allows for the creation of sensors that are free of electrical currents at the point of sensing and immune to magnetic fields. These sensors are inherently safe when used in the close vicinity of humans and their measuring performance is not impaired when they are operated in or nearby machines such as magnetic resonance imaging (MRI) scanners. This type of sensor concept is particularly suitable for inclusion in instruments and robotic tools for minimally invasive surgery (MIS). The paper summarizes the design, integration challenges and calibration of the proposed optical three-axis force sensor. The experimental results confirm the effectiveness of our optical sensing approach and show that after calibrating its stiffness matrix, force and momentum components can be determined accurately.

Official URL: http://ieeexplore.ieee.org/document/7297802/
Subjects: Other > Engineering > H600 Electronic and Electrical Engineering > H670 Robotics and Cybernetics > H671 Robotics
School or Centre: School of Design
Funders: The Seventh Framework Programme of the European Commission under grant agreement 287728 in the framework of EU project STIFF-FLOP.
Identification Number or DOI: 10.1109/JSEN.2015.2488099
Date Deposited: 02 Mar 2018 15:55
Last Modified: 02 Mar 2018 16:46
URI: http://researchonline.rca.ac.uk/id/eprint/3216

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