Abstract
This article introduces a novel Fiber Bragg Grating (FBG) 3-D force sensor designed for the end-effectors of medical robots. The sensor incorporates a specially designed layered elastic structure, achieving miniaturization, structural self-decoupling, and high-sensitivity 3-D force measurement through a cleverly compact spatial design and a reasoned layout of 5 FBGs. The construction of the theoretical model successfully decouples temperature and force. Simulation experiments determine the sensor's operational frequency range to be 0–403.6 Hz, validated through rapid prototype verification using 3-D printing technology. Static experiments reveal that the sensor's maximum measurement range and minimum resolution are <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula>5 N and 4.95 mN, respectively. The maximum sensitivity and minimum interaxis coupling are determined to be 201.86 pm/N, 0.01%F.S.(Fy–Fz), respectively. In dynamic experiments, The minimum tracking error is 3.89% F.S and successfully adapts to the end-effector of a robotic arm. Remarkably, the sensor excels in force detection during medical palpation and acupuncture procedures, validating its effectiveness and practicality in real-world applications. This study presents a reliable and high-performance end-effector force-sensing solution for the field of medical robotics.
Original language | English |
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Pages (from-to) | 1-11 |
Number of pages | 11 |
Journal | IEEE/ASME Transactions on Mechatronics |
DOIs | |
Publication status | E-pub ahead of print - Jun 2024 |
Keywords
- Deformation
- Fiber Bragg Grating (FBG)
- Force
- Force sensors
- Medical robotics
- medical robots
- Robot sensing systems
- Sensitivity
- Springs
- structure self-decoupling
- three-dimensional (3-D) force sensor
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering