Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 2
Articles | Volume 8, issue 2
https://doi.org/10.5194/ms-8-323-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-323-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 2
Research article
 | 
15 Nov 2017
Research article |  | 15 Nov 2017

Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer

Wenjie Wang, Lingtao Yu, and Jing Yang

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Latest update: 25 Apr 2026
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Short summary
Force sensing plays an important role in minimally invasive surgery. In this study, a new asymmetric cable-driven type of micromanipulator for a surgical robot was designed, and a joint angle estimator(JAE) was designed based on the dynamical model system. Closed-loop control of the joint angle was carried out by regarding the JAE output as the feedback signal. An external force estimator was designed using a disturbance observer. The experimental results shown the correctness and validity.
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