FORCE SENSING WITH ANALOG-TO-DIGITAL CONVERSION

Abstract: an apparatus includes a controller; a bendable device having one or more bending segments, each bending segment being configured to bend, rotate, or translate by pulling or pushing a set of drive wires; an actuator device having a plurality of driving portions, each drive wire being connected to a driving portion, each driving portion having a driving source connected to a force sensor configured to detect force of the drive wire and generate an analog force signal in response to the detected force; one or more adc, wherein the analog force signals of the set of drive wires are generated and communicated to a single adc configured to convert the analog force signals to digital force signals, the digital force signals being serially communicated to the controller, wherein the controller drives the driving sources based on the digital force signals.

Inventor(s): Daisuke Yamada

CPC Classification: G01L1/2262 (using resistance strain gauges)

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