Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator
Yesung Yi,Jung-Hwan Youn,Ki-Uk Kyung,Dong-Soo Kwon,Yesung Yi,Jung-Hwan Youn,Ki-Uk Kyung,Dong-Soo Kwon
Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to estimate the shape of the hyperredundant manipulator, which is commonly used in flexible endoscopic su...
