Impedance control of a robot needle with a fiber optic force sensor

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Impedance control of a robot needle with a fiber optic force sensor
	Xiao, Lifang; Yang TW(杨唐文); Huo BY(霍本岩); Zhao XG(赵新刚); Han JD(韩建达); Xu WL(徐卫良)
	2016
会议名称	2016 IEEE 13th International Conference on Signal Processing (ICSP)
会议日期	November 6-10, 2016
会议地点	Chengdu, China
关键词	robotic needle impedance control fiber optic force sensor temperature compensation
页码	1379-1383
通讯作者	Xiao, Lifang
中文摘要	In this paper, an impedance control is proposed for a robotic needle with a fiber optic force sensor. The fiber optic force sensor is placed at the tip of the needle to directly measure the interaction force between needle and soft tissue, overcoming the noise like friction force. The sensor is sensitive to the temperature condition, and their relationship is first established, and then used to compensate for the temperature influence to enhance the force measurement. An impedance control is presented based on insertion model whose impedance parameters are identified in terms of acquired test data, and experimental results show that the control strategy is effective to avoid excessive insertion force, reducing the risk of robotic needle.
收录类别	EI
产权排序	3
会议录	2016 IEEE 13th International Conference on Signal Processing (ICSP)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2164-5221
ISBN号	978-1-5090-1344-9
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20186]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Xiao, Lifang,Yang TW,Huo BY,et al. Impedance control of a robot needle with a fiber optic force sensor[C]. 见:2016 IEEE 13th International Conference on Signal Processing (ICSP). Chengdu, China. November 6-10, 2016.