An investigation of the intrinsic force sensing capabilities of continuum robots

IEEE Transactions on Robotics

Volumn 24, Issue 3, 2008, Pages 576-587

  Xu, Kai ^a   Simaan, Nabil ^a  

^a Columbia University ^*  (United States)

Author keywords

Continuum robot; Force sensing; Screw theory; Singular value decomposition (SVD); Surgical assistance

Indexed keywords

ELECTRIC NETWORK ANALYSIS; EXPERIMENTS; MEDICAL APPLICATIONS; ROBOTICS; ROBOTS; SILICONES; STANDARDS; TOOLS; WAVE FUNCTIONS;

(E ,2E) THEORY; ACTUATION REDUNDANCY; CONFIGURATION SPACES; CONTINUUM ROBOTS; EXPERIMENTAL VALIDATIONS; FORCE SENSING; FORCE SENSORS; GEOMETRIC INTERPRETATIONS; JACOBIAN; SCREW THEORY; SINGULAR VALUES; STANDARD DEVIATION (STD); SUPERELASTIC; TUMOR DETECTION;

SINGULAR VALUE DECOMPOSITION;

EID: 46349093948     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.924266     Document Type: Article

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