Title :
Placement of accelerometers in a hand-held active tremor compensation instrument for high angular sensing resolution
Author :
Latt, W.T. ; Tan, U.-X. ; Widjaja, F. ; Ang, W.T.
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore
Abstract :
Angular sensing resolution provided by accelerometers in Micron, a physiological tremor compensation instrument, is determined by noise levels of accelerometer outputs and placement of the accelerometers. The angular sensing resolution can be increased by properly placing accelerometers in the instrument. In this paper, propositions for the placement of accelerometers to obtain the highest possible angular sensing resolution in micro manipulation tasks are shown. Following the propositions, new designs of accelerometer placements to sense 6 degree-of-freedom instrument motion with higher angular sensing resolution are proposed. Comparison of noise levels between the current accelerometer placement design and proposed designs are made. Angular acceleration noise is reduced by 75.42% comparing to that due to the current placement design.
Keywords :
accelerometers; biomedical equipment; medical robotics; micromanipulators; Micron; accelerometers; hand-held active tremor compensation instrument; high angular sensing resolution; physiological tremor compensation instrument; Acceleration; Accelerometers; Biomimetics; Instruments; Noise figure; Noise level; Noise reduction; Robot sensing systems; Surgery; Surges;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913014