Fixed and Sliding FBG Sensors-Based Triaxial Tip Force Sensing for Cable-Driven Continuum Robots
Zecai Lin,Hao Wu,Huan Jia,Huanghua Liu,Xiaojie Ai,Yun Zou,Zhenglong Sun,Weidong Chen,Guang-Zhong Yang,Anzhu Gao,Zecai Lin,Hao Wu,Huan Jia,Huanghua Liu,Xiaojie Ai,Yun Zou,Zhenglong Sun,Weidong Chen,Guang-Zhong Yang,Anzhu Gao
Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental tools. To solve this, this paper proposes a fixed and sliding fiber Bragg grating (FBG) sensors-based...
