2018
Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools
RA-L 2018
The estimation of grip force for surgical tools such as the da Vinci has been shown to be valuable in possible applications such as haptics, tissue identification, and surgical training. Successful estimation attempts have been previously demonstrated, but utilize customized sensors; this letter aim