Concentric Precurved Bellows: New Bending Actuators for Soft Robots

Childs, Jake A.; Rucker, D. Caleb

doi:10.1109/lra.2020.2967323

Cited by 8 publications

(4 citation statements)

References 20 publications

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“…Existing quasi-static models evaluated independently or as part of inverse kinematics approaches cannot capture the system transient dynamics, such as vibration and overshoot due to snapping or high-bandwidth maneuvers when the system inertial forces matter [e.g., for a hyperelastic structure robot (55)] or due to sudden exertion or release of external loads (38). Furthermore, extra modeling layers are needed to capture system hysteresis and Coulomb friction (53).…”

Section: Dynamic Modelingmentioning

confidence: 99%

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From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

Mitros

Sadati

Henry

et al. 2022

Annu. Rev. Control Robot. Auton. Syst.

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Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each other to control the shape of the robot and tip pose. CTRs are a rapidly maturing technology that has seen extensive research over the past decade. Today, they are being evaluated as tools for a variety of surgical applications, as they can offer precision and manipulability in tight workspaces. This review provides an exhaustive classification of research on CTRs based on their clinical applications and highlights approaches for modeling, control, design, and sensing. Competing approaches are critically presented, leading to a discussion of future directions to address the limitations of current research and its translation to clinical applications. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Section: Dynamic Modelingmentioning

confidence: 99%

“…Childs & Rucker (55) presented the first continuum robot based on a pair of concentric precurved bellows. Each bellow rotated axially at its base, allowing independent control of the end effector's curvature and bending plane.…”

Section: Motorized Systems For Minimally Invasive Surgerymentioning

confidence: 99%

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

Mitros

Sadati

Henry

et al. 2022

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

show abstract

“…Notably, all aforementioned models are quasi-static. Regardless of whether they are evaluated independently or as part of inverse kinematics approaches, quasi-static models cannot capture high bandwidth maneuvers when the system inertial forces matter (e.g., for a hyper-elastic structure robot [12] or due to sudden exertion or release of external loads [13]), or path-dependency of the robot final configuration and asymmetric return motion cycles due to system hysteresis, radial clearances and Coulomb friction between the tubes [14], [15]. Further, quasi-static models cannot describe the system transient dynamics, such as vibration and overshoot due to snapping.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation

Sadati

Mitros

Henry

et al. 2022

IEEE Robot. Autom. Lett.

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“…Utilizing endo- and exo-skeleton designs has been shown to prevent buckling and improve overall strength ( Fishman et al, 2017 ; Castledine et al, 2019 ). Bellows, which have high torsional rigidity in comparison with its flexural rigidity, have also been used in pneumatic ( Drotman et al, 2017 ; Dämmer et al, 2019 ) and concentric-tube robots ( Childs and Rucker, 2020 ) which can drastically improve the torsional strength of the overall robot. Origami-inspired structures show great promise as many of these designs can be tuned from geometric parameters and can be made on a wide range of scales ( Liu et al, 2018 ; Rus and Sung, 2018 ; Santoso and Onal, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Leveraging Geometry to Enable High-Strength Continuum Robots

Childs

Rucker

2021

Front. Robot. AI

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Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices.

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Concentric Precurved Bellows: New Bending Actuators for Soft Robots

Cited by 8 publications

References 20 publications

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation

Leveraging Geometry to Enable High-Strength Continuum Robots

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