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Open AccessArticle

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

1
School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
2
Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology, Tianjin Institute of Aerospace Mechanical and Electrical Equipment, Tianjin 300301, China
3
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(23), 5291; https://doi.org/10.3390/s19235291
Received: 28 October 2019 / Revised: 29 November 2019 / Accepted: 29 November 2019 / Published: 1 December 2019
(This article belongs to the Special Issue Smart Sensors and Devices in Artificial Intelligence)
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-effectors are usually actuated by several long-distance wire cables. Its two forceps are each actuated by two cables. The scope of force sensing includes multidimensional external force and one-dimensional clamping force. This paper focuses on one-dimensional clamping force sensing method that do not require any internal force sensor integrated in the end-effector’s forceps. A new clamping force estimation method is proposed based on a joint torque disturbance observer (JTDO) for a cable-driven surgical robot end-effector. The JTDO essentially considers the variations in cable tension between the actual cable tension and the estimated cable tension using a Particle Swarm Optimization Back Propagation Neural Network (PSO-BPNN) under free motion. Furthermore, a clamping force estimator is proposed based on the forceps’ JTDO and their mechanical relations. According to comparative analyses in experimental studies, the detection resolutions of collision force and clamping force were 0.11 N. The experimental results verify the feasibility and effectiveness of the proposed clamping force sensing method. View Full-Text
Keywords: surgical robot end-effector; clamping force estimation; joint torque disturbance observer; PSO-BPNN; cable tension measurement surgical robot end-effector; clamping force estimation; joint torque disturbance observer; PSO-BPNN; cable tension measurement
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Wang, Z.; Wang, D.; Chen, B.; Yu, L.; Qian, J.; Zi, B. A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors. Sensors 2019, 19, 5291.

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