Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction

Yasin, Rashid; Simaan, Nabil

doi:10.1177/0278364920979721

Cited by 23 publications

(9 citation statements)

References 59 publications

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“…Besides, the coupling between each motor might cause excessive cable tensile force, which might cause a safety hazard to the subjects. Yasin and Simaan used a hybrid force/position control algorithm for a medical robot to achieve safe HRI (Yasin and Simaan, 2021 ). Likewise, the hybrid position/force control algorithm in this article could ensure safe HRI as well as good tracking performance.…”

Section: Discussionmentioning

confidence: 99%

Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task

2022

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To obtain an anthropomorphic performance in physical human-robot interaction during a reaching task, a variable impedance control (vIC) algorithm with human-like characteristics is proposed in this article. The damping value of the proposed method is varied with the target position as well as through the tracking error. The proposed control algorithm is compared with the impedance control algorithm with constant parameters (IC) and another vIC algorithm, which is only changed with the tracking error (vIC-e). The different control algorithms are validated through the simulation study, and are experimentally implemented on a cable-driven rehabilitation robot. The results show that the proposed vIC can improve the tracking accuracy and trajectory smoothness, and reduce the interaction force at the same time.

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Section: Discussionmentioning

confidence: 99%

Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task

2022

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“…[190,191] Actuation-based approaches that use joint-level information are also addressed as intrinsic force sensing. Intrinsic force sensing is often obtained with the PVW, with a PCC formulation [192][193][194] (which can be extended into a framework for hybrid force/position control [195,196] or the Cosserat rod theory kinetostatic modeling. [37] Specific solutions can also be used to achieve direct force sensing, such as the pneumatic cylinders, [197] strain measurements from FBG sensors, [198][199][200] or tactile arrays.…”

Section: Exteroception: Contact and Force Sensingmentioning

confidence: 99%

“…[212][213][214] These patterns allow continuum robots to navigate narrow and confined spaces that cannot be accessed by other systems and exploit environmental features to increase performance. [196][197][198] 4.4.1. Follow the Leader FTL motion requires the robot's shape to conform along the path led by its tip (Figure 7a,b), [215] with key applications in surgery Figure 7.…”

Section: Motion Planningmentioning

confidence: 99%

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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“…The problem of estimating externally applied forces on robotic manipulators is not new. There has been an abundance of works carried out on rigid link robots (Jung et al, 2006;Colome et al, 2013;Daly and Wang, 2014;Hu and Xiong, 2018), and more recently, on soft/continuum robots (Yasin and Simaan, 2020;Sadati et al, 2020;Xu and Simaan, 2010;Gao et al, 2020). Regarding the latter, most of the previous works focused on estimating the contact force at the tip of the manipulator/instrument, rather than along the whole body.…”

Section: Introductionmentioning

confidence: 99%

FBG-Based Estimation of External Forces Along Flexible Instrument Bodies

Al-Ahmad

Ourak

Vlekken³

et al. 2021

Front. Robot. AI

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A variety of medical treatment and diagnostic procedures rely on flexible instruments such as catheters and endoscopes to navigate through tortuous and soft anatomies like the vasculature. Knowledge of the interaction forces between these flexible instruments and patient anatomy is extremely valuable. This can aid interventionalists in having improved awareness and decision-making abilities, efficient navigation, and increased procedural safety. In many applications, force interactions are inherently distributed. While knowledge of their locations and magnitudes is highly important, retrieving this information from instruments with conventional dimensions is far from trivial. Robust and reliable methods have not yet been found for this purpose. In this work, we present two new approaches to estimate the location, magnitude, and number of external point and distributed forces applied to flexible and elastic instrument bodies. Both methods employ the knowledge of the instrument’s curvature profile. The former is based on piecewise polynomial-based curvature segmentation, whereas the latter on model-based parameter estimation. The proposed methods make use of Cosserat rod theory to model the instrument and provide force estimates at rates over 30 Hz. Experiments on a Nitinol rod embedded with a multi-core fiber, inscribed with fiber Bragg gratings, illustrate the feasibility of the proposed methods with mean force error reaching 7.3% of the maximum applied force, for the point load case. Furthermore, simulations of a rod subjected to two distributed loads with varying magnitudes and locations show a mean force estimation error of 1.6% of the maximum applied force.

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Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction

Cited by 23 publications

References 59 publications

Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task

Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task

Continuum Robots: An Overview

FBG-Based Estimation of External Forces Along Flexible Instrument Bodies

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