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Technical Briefs

Haptic Sensing for Use in Miniature In-Vivo Robotic Grasping Tasks

[+] Author and Article Information
Shane Farritor

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln

Dmitry Oleynikov

Department of Surgery,
Medical Center University of Nebraska

Manuscript received March 15, 2013; final manuscript received April 26, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030914 (Jul 03, 2013) (2 pages) Paper No: MED-13-1069; doi: 10.1115/1.4024482 History: Received March 15, 2013; Revised April 26, 2013

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Figures

Grahic Jump Location
Fig. 1

A testbed was created for design validation

Grahic Jump Location
Fig. 2

Five different conditions (empty, thin acrylic, thick acrylic, a drinking straw, and foam) were tested and shown to have both different as well as consistent readings

Grahic Jump Location
Fig. 4

Testing results provide varying compression characteristics for each type of material

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