A Full-Range Proximity-Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots.

ABSTRACT: Minimally invasive surgical robots have received widespread attention due to its numerous advantages. However, the lack of adequate perception capability remains a significant issue for the robots. In this work, a full-range proximity-tactile sensing module has been developed for safe operation of surgical robots, which performs multimodal fusion perception through ultrasonic sensor for long-range proximity detection, capacitive sensor for close-range proximity sensing, and triboelectric sensor for tactile sensing. In order for a minimum sensor size, the ultrasonic sensor is developed based on MEMS piezoelectric micromachined ultrasonic transducers (pMUTs), and the capacitive sensor and triboelectric sensor adopt common structures, which collaborate to achieve accurate proximity-tactile pe

SUBMITTER: Li D 

PROVIDER: S-EPMC12376709 | biostudies-literature | 2025 Aug

REPOSITORIES: biostudies-literature