Patent ID: 11906376
Assignee: NANYANG TECHNOLOGICAL UNIVERSITY
Field: Medical technology (Instruments)
Classification: CPC G  A | IPC A  G

Claim 11:
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.