Related papers: Cosserat Rods for Modeling Tendon-Driven Robotic C…
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
In this paper, we design feedback control laws for soft robots modelled using the Cosserat rod, which is spatially discretised using the Piecewise Constant Strain (PCS) approach. The PCS approach transforms the nonlinear PDEs describing the…
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…
We present and derive a technique for the introduction of defects into a beam model based on the Cosserat theory of rods. The technique is designed for the derivation of component models of non-ideal rods for use in MEMS devices. We also…
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
To address the issues that arise due to the manual navigation of guidewires in endovascular interventions, research in medical robotics has taken a strong interest in developing robotically steerable guidewires, which offer the possibility…
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a…
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of spherical permanent magnets; and an actuation system comprised…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Tendon-driven robotic hands offer unparalleled dexterity for manipulation tasks, but learning control policies for such systems presents unique challenges. Unlike joint-actuated robotic hands, tendon-driven systems lack a direct one-to-one…
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…
Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such…
In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's…
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical…
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot's operation that lead…
Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…