Effect of Taper Angle on Measurement for Three-axis Load Sensor

抄録

Currently, it is desired to incorporate force feedback into medical robots. In this study, a three-axis load measurement sensor mounted on the tip of forceps was developed. The newly developed sensor electrodes are threedimensionally arranged. From the simulation, the effect of the taper angle on the load measurement was revealed. A taper angle θ =π/4 rad is the most suitable angle for the measurement of the normal and shear loads. As a result, by measuring the normal load applied to each zone, this sensor can calculate the normal load and shear load.