TY - GEN
T1 - Experimental study of static and dynamic characteristics of a miniature 6-axis force and torque sensor
AU - Li, Kun
AU - Pan, Bo
AU - Fu, Yili
AU - Wang, Shuguo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - This paper describes an experimental evaluation of a miniature force and torque sensor in robot-assisted minimally invasive surgery (RMIS). A sensor prototype including the mechanical system and sensing electronics is overviewed. A linear square based static decoupling method is introduced, design and use of a newly invented calibration platform is presented. A dynamic loading mechanism to simulate a heartbeat motion is described. The sensing ranges of the sensor prototype is ±30 N and ±30 N·mm with resolutions of 0.08 N (x, y directions), 0.25 N (z direction), and 2.4 N·mm (rotational directions). It also exhibits a good capability to follow the dynamic loads at a frequency close to a normal heart rate of an adult.
AB - This paper describes an experimental evaluation of a miniature force and torque sensor in robot-assisted minimally invasive surgery (RMIS). A sensor prototype including the mechanical system and sensing electronics is overviewed. A linear square based static decoupling method is introduced, design and use of a newly invented calibration platform is presented. A dynamic loading mechanism to simulate a heartbeat motion is described. The sensing ranges of the sensor prototype is ±30 N and ±30 N·mm with resolutions of 0.08 N (x, y directions), 0.25 N (z direction), and 2.4 N·mm (rotational directions). It also exhibits a good capability to follow the dynamic loads at a frequency close to a normal heart rate of an adult.
KW - Calibration
KW - Dynamic loading test
KW - Force and torque sensor
KW - Performance evaluation
KW - RMIS
UR - https://www.scopus.com/pages/publications/84959900285
U2 - 10.1109/ICInfA.2015.7279538
DO - 10.1109/ICInfA.2015.7279538
M3 - 会议稿件
AN - SCOPUS:84959900285
T3 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
SP - 1579
EP - 1584
BT - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Y2 - 8 August 2015 through 10 August 2015
ER -