A clamping force estimation method based on a joint torque disturbance observer using pso-bpnn for cable-driven surgical robot end-effectors

HIGHLIGHTS

• who: Zhengyu Wang and colleagues from the School of Mechanical Engineering, Hefei University of Technology, Hefei, China have published the Article: A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors, in the Journal: Sensors 2019, 19, x FOR PEER REVIEW of /2019/
• what: The scope of sensing includes multidimensional external and one-dimensional This paper focuses one-dimensional sensing that do not require any internal sensor integrated in the end-effector's forceps. new is proposed torque disturbance observer (JTDO) for cable . . .
  

   

  

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