Design and control of a teleoperated microgripper for microsurgery

@inproceedings{Ku1996DesignAC,
  title={Design and control of a teleoperated microgripper for microsurgery},
  author={S. Ku and Septimiu E. Salcudean},
  booktitle={ICRA},
  year={1996}
}
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… CONTINUE READING