Abstract
Background: Most medical robotic systems require direct interaction with the robot. Force-Torque (FT) sensors can easily be mounted to the robot. However, an accurate FT control requires the current robot position to compute the spatial orientation of the sensor for gravity compensation. Methods: We developed an independent safety system, named FTA sensor, which is based on an FT sensor and an accelerometer. With a calibration of accelerations to the FT coordinate frame, the current spatial orientation of the sensor is computed. Results: We found that the calibration of accelerations into the FT coordinate frame can be performed with a median rotational error of 3.5°. The median error for gravity compensation based on accelerations was 0.3N and 0.04Nm for forces and torques, respectively. Conclusion: By combining accelerations with force-torque readings, the FTA sensor works independently from robot input. Furthermore, the accuracy of the FTA sensor is sufficient for the purpose of medical robotic systems.
Highlights
Robotic assistance systems are more and more important for medical applications [1]
Besides evaluation of the calibration, we further show that the use of acceleration recording is sufficient for gravity compensation for medical robotic systems
The median deviation between two calibration matrices was Besides these evaluations on the calibration itself, our practical test shows that the gravity compensation based on accelerations is sufficient for the application
Summary
Robotic assistance systems are more and more important for medical applications [1]. For recent developments on medical and surgical robotics see, e.g., [2,3,4]. Even though the applications and specifications differ, for many systems industrial robots are preferred instead of fully new designs [5,6]. The industrial robot is adapted to the specific requirements of the applications. This adaptation is usually done in software, e.g. on the robot controller. Current developments are still based on industrial robot designs [10,11,12]. An accurate FT control requires the current robot position to compute the spatial orientation of the sensor for gravity compensation
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