A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors

The ability to sense external force is an important technique for force feedback, haptics and safe interaction control in minimally-invasive surgical robots (MISRs). Moreover, this ability plays a significant role in the restricting refined surgical operations. The wrist joints of surgical robot end...

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Detalles Bibliográficos
Autores principales: Wang, Zhengyu, Wang, Daoming, Chen, Bing, Yu, Lingtao, Qian, Jun, Zi, Bin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6929025/
https://www.ncbi.nlm.nih.gov/pubmed/31805636
http://dx.doi.org/10.3390/s19235291

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6929025/
https://www.ncbi.nlm.nih.gov/pubmed/31805636
http://dx.doi.org/10.3390/s19235291

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