Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots

Bajo, Andrea; Simaan, Nabil

doi:10.1109/tro.2011.2175761

Cited by 108 publications

(47 citation statements)

References 32 publications

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“…During data collection for generating the input to the CARE algorithm, the robot may be telemanipulated using hybrid position-force control ensuring a regulated force on the surface subject to a rough estimate of the surface normal. The robot detects that it is in contact with a surface using an implementation similar to [1] or by using a threshold on the force estimated at the tip of the robot. The robot infers the contact force by observing the joint actuation forces and solving the inverse statics problem in a manner similar to [21].…”

Section: Filtering For Registration and Compliance Estimationmentioning

confidence: 99%

Simultaneous Compliance and Registration Estimation for Robotic Surgery

Sanan

Tully

Bajo

et al. 2014

Robotics: Science and Systems X

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Abstract-Leveraging techniques pioneered by the SLAM community, we present a new filtering approach called simultaneous compliance and registration estimation or CARE. CARE is like SLAM in that it simultaneously determines the pose of a surgical robot while creating a map, but in this case, the map is a compliance map associated with a preoperative model of an organ as opposed to just positional information like landmark locations. The problem assumes that the robot is forcefully contacting and deforming the environment. This palpation has a dual purpose: 1) it provides the necessary geometric information to align or register the robot to a priori models, and 2) with palpation at varying forces, the stiffness/compliance of the environment can be computed. By allowing the robot to palpate its environment with varying forces, we create a force balanced spring model within a Kalman filter framework to estimate both tissue and robot position. The probabilistic framework allows for information fusion and computational efficiency. The algorithm is experimentally evaluated using a continuum robot interacting with two benchtop flexible structures.

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Section: Filtering For Registration and Compliance Estimationmentioning

confidence: 99%

Simultaneous Compliance and Registration Estimation for Robotic Surgery

Sanan

Tully

Bajo

et al. 2014

Robotics: Science and Systems X

Self Cite

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“…Approaches to measuring the shape of a continuum robot include image-based methods [3,4], electromagnetic tracking [5], force sensing in control tendons [6], and optical fibers with fiber Bragg gratings (FBGs) [1,2]. Despite the fact that each of these approaches can work well in a certain situation, they also have some shortcomings.…”

Section: Introductionmentioning

confidence: 99%

A Two-Dimensional Deflection Sensor Based on Force Sensing Resistors

Guo

Wang

et al. 2017

Journal of Sensors

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A flexible deflection sensor for elastic shaft with the capability of measuring the amplitude and direction of bending is introduced in this paper. A thin force sensing resistors (FSR) film is taken as its basic material, which is sandwiched by an elastomer layer and a printed circuit board (PCB) with detecting electrode grids. Two fix rings are used to fix the three thin components perpendicularly to the longitudinal direction of the flexible shaft. When the shaft bends under forces, the fix rings will generate a normal pressure on FSR, which will cause the change of the resistance. Therefore, the amplitude of bending can be got based on the value of resistance. The electrode grid on the PCB is divided into four detection areas used to estimate the distribution of normal pressure on the FSR; thus the bending direction of shaft can also be obtained. Test results of a prototype (140 mm in length) show that the amplitude of deflection can reach 30 mm and the sensitivities of sensor are 40.37, 32.8, 37.77, and 39.47 mV/mm in the four directions, respectively. The proposed flexible deflection sensor can be applied in continuum robots or other applications, which require rapid measurement of bending amplitude and direction.

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“…Kinematics models have been built and analyzed. The approach for compliant motion control that does not require explicit estimation of interaction forces has also been presented in previous studies [1,2]. A continuum robot with a coupled tendon drive has been developed for use in the examination of human heart disease [4].…”

Section: Introductionmentioning

confidence: 99%

Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot

Niu

Wang

Zong

2015

IFS

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Abstract. With a compliant structure and excellent bending properties, continuum robot has hyper-redundant degrees of freedom, and can be used in space-constrained environments as the aircraft fuel tank. Therefore, a continuum robot is designed to help crews inspect aircraft fuel tanks, which can improve maintenance efficiency and reduce the intensity of crews. According to the requirements of aircraft fuel tank inspection, the compliant and extensible drive mechanisms of the continuum robot are designed. The kinematic models of single joint segment and multi-joint segments of continuum robot are analyzed, and homogeneous transformation matrices are obtained. To improve control performance, a closed-loop fuzzy controller based on attitude feedback is proposed. The attitude sensor is installed on the top of each joint segment of a snake-like arm to form a closed-loop control system, and a fuzzy controller is designed to achieve fast and accurate control of the robot. The prototype platform of the continuum robot is built, and practical experiments are implemented on the platform. The effectiveness and stability of the fuzzy controller based on attitude feedback are verified.

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Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots

Cited by 108 publications

References 32 publications

Simultaneous Compliance and Registration Estimation for Robotic Surgery

Simultaneous Compliance and Registration Estimation for Robotic Surgery

A Two-Dimensional Deflection Sensor Based on Force Sensing Resistors

Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot

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