An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor

[+] Author and Article Information
J. Dargahi

Mechanical and Industrial Engineering Department, University of Concordia, 1455 de Maisonneve Blvd. West. Montreal, Quebec Canada H3G 1M8

J. Mech. Des 124(3), 576-582 (Aug 06, 2002) (7 pages) doi:10.1115/1.1471531 History: Received October 01, 1999; Online August 06, 2002
Copyright © 2002 by ASME
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Present day endoscopes used in minimally invasive surgery and associated tooth-like grasper
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The detailed construction of the tactile sensor. The total force applied to the sensor and the force applied to the central cylinder are monitored by the lower and upper PVDF film respectively.  
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The analytical model of the tactile sensor showing the sensor’s capability to measure compliance of a contact object.
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The theoretical variation of F1/F2 as a function of E1T2/E2T1 for the compliance measuring tactile sensing system. The curve also indicates the effect of change in the ratio of Ab/Aa
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Experimental measurement setup.
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Comparison of the theoretical and experimental results obtained for the compliance measuring tactile sensor. The experimental results agree well with the theoretical analysis. The slight over-estimate could be due to material hysteresis or the shear forces in the material, which were not included in the analysis
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A model of endoscopic grasper with the proposed integrated tooth-like tactile sensor.
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Theoretical analysis of the tactile sensor showing the sensor’s capability to measure surface roughness when it is moved across a simplified rough surface profile.



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