Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools and soft tissue for the establishment of soft-tissue force model. Because this decoupling structure requires accurate sliding clearance and symmetric grooves, the influence of contact force between the elastic body and the groove sidewall on decoupling is analyzed. The analysis results indicate that the contact force will produce additional coupling error. The robust design method of elastic body size optimization is used to eliminate the influence of contact force. In the calibration test, the expanded uncertainty of the calibration device is evaluated and the calibration results validate the good decoupling.