Ping Shum

Distal End Force Sensing with Optical Fiber Bragg Gratings for Tendon-Sheath Mechanisms in Flexible Endoscopic Robots

Accurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for…