<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools and soft tissue for the establishment of soft-tissue force model. Because this decoupling structure requires accurate sliding clearance and symmetric grooves, the influence of contact force between the elastic body and the groove sidewall on decoupling is analyzed. The analysis results indicate that the contact force will produce additional coupling error. The robust design method of elastic body size optimization is used to eliminate the influence of contact force. In the calibration test, the expanded uncertainty of the calibration device is evaluated and the calibration results validate the good decoupling.</p></abstract>

This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools and soft tissue for the establishment of soft-tissue force model. Because this decoupling structure requires accurate sliding clearance and symmetric grooves, the influence of contact force between the elastic body and the groove sidewall on decoupling is analyzed. The analysis results indicate that the contact force will produce additional coupling error. The robust design method of elastic body size optimization is used to eliminate the influence of contact force. In the calibration test, the expanded uncertainty of the calibration device is evaluated and the calibration results validate the good decoupling.

Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

Department of Instrument Science and Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China

Measurement Science Review

{"article-title":"Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor"}

This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools...

Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

Published Online: Aug 24, 2013

Page range: 187 - 193

DOI: https://doi.org/10.2478/msr-2013-0028

Keywords
Tool-tissue interactive force, force/torque sensor, sliding structure, decoupling, robust design, uncertainty

This content is open access.

Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

Published Online: Aug 24, 2013

Page range: 187 - 193

DOI: https://doi.org/10.2478/msr-2013-0028

KeywordsTool-tissue interactive force, force/torque sensor, sliding structure, decoupling, robust design, uncertainty

This content is open access.

Keywords
Tool-tissue interactive force, force/torque sensor, sliding structure, decoupling, robust design, uncertainty