Nonlinear energy-based control of soft continuum pneumatic manipulators
Sign Up to like & getrecommendations! Published in 2021 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-021-06817-1
Abstract: This paper investigates the model-based nonlinear control of a class of soft continuum pneumatic manipulators that bend due to pressurization of their internal chambers and that operate in the presence of disturbances. A port-Hamiltonian formulation… read more here.
Keywords: soft continuum; continuum pneumatic; control; pneumatic manipulators ... 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
Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3149031
Abstract: Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe and thus allow safe Human-Robot Collaboration. This letter presents the design of a robotic structure based on variable stiffness.… read more here.
Keywords: planar motion; validation; variable stiffness; soft continuum ... See more keywords
Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3155821
Abstract: For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the… read more here.
Keywords: arm; control; visual servoing; soft continuum ... 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