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Motion Control and External Force Estimation of a Pneumatically Driven Multi-DOF Robotic Forceps
2020
Applied Sciences
Robotic forceps with a rigid-link joint mechanism is orthodox for current robotic-assisted surgery systems. However, external force estimation without force sensors during operations is difficult for such electrically driven forceps. This work introduces a pneumatically driven multi-DOF (DOF: degree of freedom) forceps using a rigid-link mechanism with less interference of the wire drive between joints and realizes external force estimation by utilizing high back-drivability of pneumatic
doi:10.3390/app10113679
fatcat:vuzha2czhrhs3npelredxtwvzy