Hostname: page-component-cd9895bd7-gvvz8 Total loading time: 0 Render date: 2024-12-25T05:36:26.405Z Has data issue: false hasContentIssue false
  • English
  • Français

Tendon sheath analysis for estimation of distal end force and elongation for sensorless distal end

Published online by Cambridge University Press:  10 February 2010

S. J. Phee ,
S. C. Low ,
P. Dario  and
A. Menciassi
S. J. Phee*
Affiliation:
Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Ave, Singapore639798
S. C. Low
Affiliation:
Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Ave, Singapore639798
P. Dario
Affiliation:
Scuola Superiore Sant'Anna, CRIM
A. Menciassi
Affiliation:
Scuola Superiore Sant'Anna, CRIM
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Tendon sheath actuation is found in many applications, particularly in robotic hands and surgical robots. Due to the friction between the tendon and sheath, many undesirable characteristic such as backlash, hysteresis and non-linearity are present. It is desirable to know the end-effector force and elongation of the tendon to control the system effectively, but it is not always feasible to fix sensors at the end effector. A method to estimate the end-effector parameters using only a force and position sensor at the proximal site is given. An analytical study is presented and experiments are reported to support the result, showing a maximum full-scale error of approximately 7%. This result is achieved if the shape of the sheath remains the same and buckling is negligible. The results presented in this study could contribute towards haptic development in robotics surgery.

Keywords

Surgical RobotsGraspingForce ControlSerial Manipulator Design and KinematicsHaptic Interfaces
Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 1073 - 1082
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Tavakoli, M., Patel, R. V. and Moallem, M., “Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector,” Int. J. Med. Rob. Comp. Asst. Sur. 1 (2), 53–63 (2005).Google Scholar
2.Mitsushi, M., Arata, J., Tanaka, K., Miyamoto, M., Yoshidome, T., Iwata, S., Warisawa, S. and Hashizume, M., “Development of a Remote Minimally-Invasive Surgical System with Operational Environment Transmission Capability,” IEEE International Conference on Robotics and Automation, Taipei, Taiwan (Sep. 2003).Google Scholar
3.Zemiti, N., Ortmaier, T., Vitrani, M. A. and Morel, G., “A force controlled laparoscopic surgical robot without distal force sensing,” Springer Tracts Adv. Robot. Exp. Robot. IX 21, 153–163 (2006).Google Scholar
4.Phee, S. J., Low, S. C., Sun, Z. L., Ho, K. Y., Huang, W. M. and Thant, Z. M., “Robotic system for no-scar gastrointestinal surgery,” Int. J. Med. Rob. Comp. Asst. Sur. 4, 15–22 (2008).CrossRefGoogle ScholarPubMed
5.Abbott, D. J., Becke, C., Rothstein, R. I. and Peine, W. J., “Design of an Endoluminal NOTES Robotics System,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA (Nov. 2007).Google Scholar
6.Kaneko, M., Yamashita, T. and Tanie, K., “Basic Considerations for Tendon Drive Robots,” Intenational Conference on Advanced Robotics, Pisa, Italy (Jun. 1991).Google Scholar
7.Kaneko, M., Wada, M., Maekawa, H. and Tanie, K., “A New Consideration on Tendon-Tension Control of Tendon-Driven Robot Hand,” Proceedings IEEE International Conference on Robotics and Automation, Sacramento, CA (Apr. 1991).Google Scholar
8.Kaneko, M., Paetsch, W. and Tolle, H., “Input-dependent stability of joint torque control of tendon-driven robot hands,” IEEE Trans. Ind. Electron. 2, 1057–1062 (Apr. 1992).Google Scholar
9.Palli, G. and Melchiorri, C., “Model and Control of Tendon-Sheath Transmission Systems,” Proceedings IEEE International Conference on Robotics and Automation, Orlando, FL (May 2006).Google Scholar
10.Agrawal, V., Peine, W. J. and Yao, B., “Modeling of a Closed Loop Cable-Conduit Transmission System,” IEEE International Conference on Robotics and Automation, Pasadena, CA (May 2008).Google Scholar
11.Guckert, M. L. and Naish, M. D., “Measuring the Angle of a Rotating Link Through Compliant Driving Tendons,” Canadian Conference on Electrical and Computer Engineering, Niagara Falls, ON, Canada (May 2008).Google Scholar