Pillai B.M.Sivaraman D.Ongwattanakul S.Suthakorn J.Mahidol University2023-06-182023-06-182022-01-01Proceedings - 2022 9th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2022 (2022)https://repository.li.mahidol.ac.th/handle/20.500.14594/84568This article intends to provide content that is both basic and elementary, but at the same time discusses how solving difficult challenges when estimating the actual force in real-time teleoperation using a small-size DC motor as the end effector/ gripper of the surgical robot. The end-effector of the surgical robot, where the surgical tools have been attached, requires high-end precision. Most commercial surgical robotic systems calculate the real-time force by using traditional force sensors which encounters hindrance like lack of expected response (advance control), limited bandwidth, and requirement of force for its own operation. The paper introduces a Disturbance observer (DOB) based Reaction Torque observer (RTOB) as the sensor for the real-time gravity torque sensing in biomedical applications, with a focus on surgical robots. In order to enable both professional engineers and students with a limited understanding of control to use the article, mathematical complications are kept to a minimum.EnergyConference PaperSCOPUS10.1109/ICELIE55228.2022.99694292-s2.0-85145434109