Multi-surface sliding mode control of continuum robots with mismatched uncertainties
Sign Up to like & getrecommendations! Published in 2019 at "Meccanica"
DOI: 10.1007/s11012-019-01072-6
Abstract: In this paper, we tackle the control problem of continuum robots with mismatched uncertainties. Uncertainties that affect systems through any of their states and may not be directly accessed by their controllers. These uncertainties emerge… read more here.
Keywords: continuum robots; robots mismatched; multi surface; control continuum ... See more keywords
Robust Control of Continuum Robots using Interval Arithmetic
Sign Up to like & getrecommendations! Published in 2017 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2017.08.1115
Abstract: Abstract We consider the problem of controlling pneumatically actuated continuum robots with uncertain system dynamics and input disturbance. While such systems are intrinsically structurally safe due to soft and light-weight components, their structural flexibility challenges… read more here.
Keywords: using interval; robust control; continuum robots; interval arithmetic ... See more keywords
Hard-magnetic elastica
Sign Up to like & getrecommendations! Published in 2020 at "Journal of The Mechanics and Physics of Solids"
DOI: 10.1016/j.jmps.2020.104045
Abstract: Abstract Recently, ferromagnetic soft continuum robots – a type of slender, thread-like robots that can be steered magnetically – have demonstrated the capability to navigate through the brain's narrow and winding vasculature, offering a range… read more here.
Keywords: magnetic elastica; hard magnetic; soft continuum; continuum robots ... See more keywords
Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3077186
Abstract: This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and… read more here.
Keywords: dynamic modeling; continuum robots; rod based; tendon driven ... See more keywords
Cable Decoupling and Cable-Based Stiffening of Continuum Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3210120
Abstract: Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design… read more here.
Keywords: cable; cable decoupling; cable based; continuum robots ... See more keywords
Dynamic Modeling of Tendon-Driven Co-Manipulative Continuum Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3137535
Abstract: This study presents a general framework for the dynamic analysis of tendon-driven co-manipulative continuum robots with flexible objects. Hence, the actuations of the arms have been provided by bending. Furthermore, the object is modeled as… read more here.
Keywords: manipulative continuum; dynamic modeling; driven manipulative; continuum robots ... See more keywords
Shape Sensing for Continuum Robots by Capturing Passive Tendon Displacements With Image Sensors
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3144783
Abstract: Continuum robots and soft robots have shown great potential in industrial and medical applications. Sensing the shapes of continuum robots is a challenging but significant problem for enhancing their performance during various tasks. In this… read more here.
Keywords: continuum robots; robots capturing; passive tendon; tendon displacements ... See more keywords
Optimization of Stress Distribution in Tendon-Driven Continuum Robots Using Fish-Tail-Inspired Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3147456
Abstract: Tendon-driven continuum robots are widely used in different engineering disciplines due to their simple structure and high flexibility. The typical structure of a tendon-driven continuum robot usually contains a series of identical compliant joints in… read more here.
Keywords: compliant joints; driven continuum; continuum robots; tendon driven ... See more keywords
A Simulation Framework for Magnetic Continuum Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187249
Abstract: Remote magnetic navigation is a technology used to robotically steer magnetic medical instruments, such as magnetic catheters and guidewires, for minimally invasive surgery. The ability to model and simulate the behavior of these magnetic instruments… read more here.
Keywords: magnetic continuum; simulation framework; framework; framework magnetic ... See more keywords
Estimating Forces Along Continuum Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3188905
Abstract: Continuum robots can be slender and flexible to navigate through complex environments, such as passageways in the human body. In order to control the forces that continuum robots apply during navigation and manipulation, we would… read more here.
Keywords: estimating forces; forces along; along continuum; continuum robots ... See more keywords
Magnetic Soft Continuum Robots With Braided Reinforcement
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191552
Abstract: Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the… read more here.
Keywords: magnetic catheter; magnetic soft; continuum robots; soft continuum ... See more keywords