Abstract
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 three-dimensionally arranged. From the simulation, the effect of change in the load of shear load on the load measurement was revealed. The measurement was found to be affected by the bending and deformation. As a result, by measuring the normal load applied to each zone, this sensor can calculate the normal load and shear load.
