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A remotely controlled microgripper has been developed as an end-effector for a six-degree-of-freedom force-reflecting motion-scaling system. The microgripper is small and lightweight, and features relatively high force and stroke compared to other designs. Furthermore, force sensing enables the accurate measurement and control of tool-tissue forces, and the emulation of different mechanical devices. This paper presents the design of the microgripper and describes some control methods that have been implemented.
Ku et al. (Mon,) studied this question.