{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T08:12:17Z","timestamp":1776413537922,"version":"3.51.2"},"reference-count":26,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2016,5,31]],"date-time":"2016-05-31T00:00:00Z","timestamp":1464652800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach based on using an embedded force-torque sensor to identify the robot\u2019s kinematic parameters and thereby enhance the positioning accuracy. A simulation study demonstrated that our calibration approach is effective, whether or not any measurement noise is present: the position error is improved, inside the robot target workspace, from 12 mm to 0.320 mm, for the maximum values, and from 9 mm to 0.2771 mm, for the mean errors.<\/jats:p>","DOI":"10.3390\/s16060798","type":"journal-article","created":{"date-parts":[[2016,5,31]],"date-time":"2016-05-31T10:40:18Z","timestamp":1464691218000},"page":"798","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Use of a Force-Torque Sensor for Self-Calibration of a 6-DOF Medical Robot"],"prefix":"10.3390","volume":"16","author":[{"given":"Ahmed","family":"Joubair","sequence":"first","affiliation":[{"name":"\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Long","family":"Zhao","sequence":"additional","affiliation":[{"name":"\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pascal","family":"Bigras","sequence":"additional","affiliation":[{"name":"\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9663-2496","authenticated-orcid":false,"given":"Ilian","family":"Bonev","sequence":"additional","affiliation":[{"name":"\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Beasley, R.A. 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