1A1-J09 カテーテル用3次元抗力センサ(医療・福祉ロボティクス・メカトロニクス)

概要

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This paper focuses on a development of a 3D drag sensor for detecting the catheter's contact conditions. The sensor is composed of a cylindrical nonmetal material and three strain gauges. The load that joins the point of the sensor is measured with the strain gauges. The gauges are put on the side of the nonmetal material at intervals of 2π/3 radians. The output voltage of the gauges are approximated by sinusoidal functions with a phase difference of 2π/3 radians. The equations relating the sensor output with the contact conditions are formulated in the three gauges output. We show that the contact angle with object and the load that joins point of catheter are estimated by the gauges output voltage and approximated sinusoidal functions.
一般社団法人日本機械学会の論文
2007-05-11