Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots

This paper presents the intrinsic capability of full-wrench estimation of multisegment continuum robots with multiple flexible backbones. Intrinsic-full-wrench estimation refers to the ability of continuum robots to also serve as force and moment sensors by using measurements of axial loads on their...

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Bibliographic Details
Published in:IEEE transactions on robotics 2010-06, Vol.26 (3), p.555-561
Main Authors: Kai Xu, Simaan, Nabil
Format: Article
Language:English
Subjects:
Applied sciences
Axial loads
Backbone
Biological and medical sciences
Computer science
control theory
systems
Continuum robots
Continuums
Control theory. Systems
Design automation
Detection
Estimating techniques
Exact sciences and technology
Force feedback
Force measurement
force sensing
Force sensors
haptic feedback
Haptic interfaces
Haptics
Magnetic resonance imaging
Measurement
Medical sciences
NMR
Nuclear magnetic resonance
Performance analysis
Performance evaluation
performance index
Robot sensing systems
Robotics
Robots
Sensors
Spine
Surgery
Surgery (general aspects). Transplantations, organ and tissue grafts. Graft diseases
surgical assistant
Wrenches
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Summary:This paper presents the intrinsic capability of full-wrench estimation of multisegment continuum robots with multiple flexible backbones. Intrinsic-full-wrench estimation refers to the ability of continuum robots to also serve as force and moment sensors by using measurements of axial loads on their backbones. This end-effector-as-sensor approach fulfills the rapidly increasing needs for miniature-robotic-surgical tools with haptic sensing ability subject to various limitations, such as size, magnetic resonance imaging (MRI) compatibility, sterilizability, etc. A performance index for the intrinsic wrench-sensing capability is introduced and evaluated to show how this index can serve as a design guide for continuum robots that provide force sensing.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2010.2046924