An endoscopic grasper with corrugated plate-shaped tactile sensors

Mohammad Ameen Qasaimeh, Mohammadreza Ramezanifard, Javad Dargahi

Research output: Contribution to journalArticlepeer-review


One of the major weaknesses in current endoscopic surgery is the lack of tactile feedback. This paper reports on the design, finite element modeling, and experimental testing of a corrugated tactile sensor. The sensor, a miniaturized and modified form of our previously developed tactile sensor, consists of a 75μm plate-shaped silicon layer and a 25μm polyvinylidene fluoride (PVDF) film, patterned on both sides using photolithographic techniques to form three independent sensing elements. The sensor is 15mm long, 7.5mm wide, and approximately 3mm thick, which could make it versatile enough for integration with current endoscopic and medical robotics manipulators. The silicon layer is micromachined in such a way that a U-channel is formed. When a force is applied on the tactile sensor, output voltages from the patterned PVDF-sensing elements are combined to obtain tactile information. Results show that the sensor exhibits high sensitivity and can measure small dynamic loads, comparable to a human pulse, as well as large grasping forces. In addition to measuring the magnitude and position of the applied load, the sensor can determine the modulus of elasticity of the grasped object.

Original languageEnglish (US)
Pages (from-to)913-926
Number of pages14
JournalJournal of Mechanics of Materials and Structures
Issue number5
StatePublished - May 2009


  • Endoscopic grasper
  • Microfabricated sensor
  • Minimally invasive surgery
  • Tactile sensor

ASJC Scopus subject areas

  • Mechanics of Materials
  • Applied Mathematics


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