Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 13, Issue 5, Pages 538-547Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2008.2001184
Keywords
Flexible structures; medical robotics; physiological motion sensing; 3-D sensor; whisker like
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Funding
- National Science Foundation [CISE IIS-0222743, EIA-0329811, CNS-0423253]
- U.S. Department of Commerce [TOP-39-60-04003]
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This paper presents the design and characterization of a whisker-like 3-D position sensor. The whisker sensor is a flexible, high-precision, high-bandwidth contact sensor designed for measuring biological motion of soft tissue for medical robotics applications. Low stiffness of the sensor prevents damage on the tissue during its contact. Two different designs, one for measuring large displacements, the other for small displacements are described. Simulation and measurement results from prototype of both designs are reported.
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