2A1-C17 内視鏡手術支援ロボット鉗子のための光ファイバを用いた力計測機構の開発 : 鉗子の長軸方向にかかる力の測定機構の提案

概要

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This paper reports the development of a novel force measurement unit to measure longitudinal forces for forceps manipulator using a Fiber Bragg Grating (FBG) strain sensor. The unit is composed of a strain-amplifying mechanism and a hydrostatic bearing. Our first prototype has linear relationship between the force exerted and the wavelength, within the range from -3 to 3N. Wavelength shifts in the FBG sensor were recorded for each trial using a sampling frequency of approximately 900 Hz. The sensor was firstly developed for a force feedback application on a master slave system.
一般社団法人日本機械学会の論文