Design and control of a teleoperated microgripper for microsurgery
نویسندگان
چکیده
A remotely controlled microgripper has been developed as an end-eeector for a six-degree-of-freedom force-reeecting motion-scaling system. The microgrip-per is small and lightweight, and features relatively high force and stroke compared to other designs. Furthermore , force sensing enables the accurate measurement and control of tool-tissue forces, and the em-ulation of diierent mechanical devices. This paper presents the design of the microgripper and describes some control methods that have been implemented.
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