A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation

Peter J. Berkelman, Louis L. Whitcomb, Russell H. Taylor, Patrick Jensen

Research output: Contribution to journalArticle


The development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions was described. The application of miniature force sensors to scaled force feedback by using a cooperatively manipulated microsurgical assistant robot was also discussed. It was shown that the robot reacts to changes in the tip force of less than 5 mN.

Original languageEnglish (US)
Pages (from-to)917-922
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Issue number5
StatePublished - Oct 1 2003



  • Clinical human computer interfaces
  • Force sensor
  • Micro-electromechanical systems (MEMS)-based medical devices
  • Robotics and robotic manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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