# US 11,906,376 B2 · Force sensor for tendon-actuated mechanisms > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,376 B2 - Document ID: US11906376B2 - Status: Granted - Kind: B2 - Application number: 17/054,744 - Filed: 2019-05-22 - Published: 2021-07-22 - Granted: 2024-02-20 - Earliest claimed: 2018-05-22 - Assignees: Nanyang Technological University - Applicants: Nanyang Technological University - Inventors: Wenjie Lai; Lin Cao; Soo Jay Louis Phee - Web page: https://patentgrep.com/patent/US11906376B2 ## CPC - G01L 1/246: {using integrated gratings, e.g. Bragg gratings} - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - G01L 5/0033: {applying a pulling force} - G01L 5/105: using electro-optical means - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A force sensor for a tendon-actuated mechanism, the force sensor comprising: a body having a through hole for passage of a tendon of the tendon-actuated mechanism therethrough, the body configured to be connected to a part of the tendon-actuated mechanism through which the tendon passes; and a sensor provided on the body to obtain a compression force on the body from the part of the tendon-actuated mechanism through which the tendon passes. ## Claims ### Claim 1 A force sensor for a tendon-actuated mechanism, the force sensor comprising: a body having a through hole for passage of a tendon of the tendon-actuated mechanism therethrough, the body configured to be connected to a part of the tendon-actuated mechanism through which the tendon passes; and a sensor provided on the body, wherein the body is compressible longitudinally in response to a tension force axially along the tendon resulting from pulling of the tendon; wherein the sensor is configured to obtain a compression force longitudinally along the body resulting from compression of the body longitudinally; wherein the compression force is comparable to the tension force, such that the tension force axially along the tendon is measured based on the compression force longitudinally along the body. ### Claim 2 (depends on 1) The force sensor of claim 1, wherein the sensor comprises an optical fibre having a first Fibre Bragg Grating (FBG) segment, the first FBG segment being attached to the body, and wherein shift in wavelength of light transmitted by the first FBG segment is directly correlatable to the compression force longitudinally along the body. ### Claim 3 (depends on 2) The force sensor of claim 2, wherein the optical fibre has a second FBG segment, wherein in use, the second FBG segment is not attached to any part of the tendon-actuated mechanism and shift in wavelength of light transmitted by the second FBG segment is directly correlatable to a difference in temperature experienced by the second FBG segment. ### Claim 4 (depends on 2) The force sensor of claim 2, wherein the first FBG segment is attached to an outer surface of the body. ### Claim 5 (depends on 2) The force sensor of claim 2, wherein grating length of the first FBG segment is less than or equal to 1 mm. ### Claim 6 (depends on 1) The force sensor of claim 1, wherein the body is made of a deformable material. ### Claim 7 (depends on 1) The force sensor of claim 1, wherein the body is provided with perforations to improve flexibility of the body. ### Claim 8 (depends on 1) The force sensor of claim 1, wherein the body comprises a tubular structure. ### Claim 9 (depends on 1) The force sensor of claim 1, wherein the tendon-actuated mechanism comprises a tendon-sheath mechanism, wherein the part of the tendon-actuated mechanism comprises a sheath of the tendon-sheath mechanism, and wherein the body is collinearly attached to the sheath of the tendon sheath mechanism. ### Claim 10 (depends on 9) The force sensor of claim 9, wherein the part of the tendon-sheath mechanism comprises at least two sheaths of the tendon-sheath mechanism, and wherein the body of the force sensor is provided between the at least two sheaths. ### Claim 11 (depends on 1) The force sensor of claim 1, wherein the tendon-actuated mechanism comprises a continuum robot, the continuum robot comprising a plurality of disks and a number of tendons passing through the plurality of disks, at least some of the number of tendons each terminating in a stopper, wherein for at least one of the number of tendons terminating in a stopper, the body of the force sensor is provided between the stopper and a disk that is immediately adjacent the stopper. ### Claim 12 A method of determining a force on a tendon-actuated mechanism, the method comprising: a) providing a force sensor on a part of the tendon-actuated mechanism through which a tendon of the tendon-actuated mechanism passes, the force sensor comprising a body and a sensor provided thereon; b) passing the tendon through a through hole of the body; c) generating a tension force axially along the tendon resulting from pulling of the tendon; d) compressing the body longitudinally in response to the tension force; e) obtaining with the sensor a compression force longitudinally along the body resulting from compression of the body longitudinally, wherein the compression force is comparable to the tension force; and f) measuring the tension force axially along the tendon based on the compression force longitudinally along the body. ### Claim 13 (depends on 12) The method of claim 12, wherein the sensor comprises an optical fibre having a first Fibre Bragg Grating (FBG) segment attached to the body, and wherein step e) comprises obtaining a shift in wavelength of light transmitted by the first FBG segment and correlating the shift in wavelength of light transmitted by the first FBG segment to magnitude of the compression force longitudinally along the body. ### Claim 14 (depends on 13) The method of claim 13, further comprising: g) providing a second FBG segment not attached to any part of the tendon-actuated mechanism; h) obtaining a shift in wavelength of light transmitted by the second FBG segment; i) correlating the shift in wavelength of light transmitted by the second FBG segment to a difference in temperature experienced by the second FBG segment; and j) offsetting the shift in wavelength of light transmitted by the first FBG segment with the shift in wavelength of light transmitted by the second FBG segment to compensate for difference in temperature experienced by the first FBG segment.