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Dynamic force/torque sensors: theory and experiments

TitleDynamic force/torque sensors: theory and experiments
Publication TypeConference Paper
Year of Publication1997
Conference NameProc. Int. Conference on Advanced Robotics
Pagination727-732
Publication Languageeng
AuthorsBicchi, A, Caiti, A, Prattichizzo, D
Conference LocationMonterey, CA, USA
KeywordsSensors
Abstract

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments

TitleHaptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments
Publication TypeConference Paper
Year of Publication1997
Conference NameProc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems
Publication Languageeng
AuthorsScilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference LocationDallas
KeywordsBioengineering, Haptics, Robotics

Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues

TitleSensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues
Publication TypeConference Paper
Year of Publication1997
Conference NameProc. IEEE Int. Conf. Engineering in Medicine and Biology
Publication Languageeng
AuthorsScilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference LocationChicago
KeywordsHaptics, Sensors