This paper presents the design of a three-axial force/torque sensor which is used for the measurement of the contact force on the probe of the arthroscopy. The orthogonal test is used to optimize the size of the flexor of the sensor. According to the size gotten from the test, the deformation under the stress is analyzed by ANSYS, then the locations where the strain gauges pasted are determined. Finally, the sensor's measurement principle and static calibration test are described and the experiment results demonstrate the validity and reliability of the sensor in the practical application.

A Trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize the avoidance ability for redundant manipulator is extended to carry out the trajectory planning in this paper. We firstly predefine the trajectory of the mobile platform and stop it at a certain position defined by AMSI where allows the manipulator to reach all the desired points on the trajectory, then optimize the configuration of the manipulator according to AMSI and AMSIP to realize the whole trajectory planning task. The experiments are performed by the mobile manipulator in real environment.