Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation

Tiziani, Lucas O.; Hammond, Frank L.

doi:10.1089/soro.2019.0019

Cited by 26 publications

(15 citation statements)

References 29 publications

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“…To achieve higher accuracy in line with the repeatability of the device, real‐time sensing feedback is highly desired. A simple approach is to embed a soft strain gauge [ 34 ] or optical fiber sensors [ 35 ] into the SMAM to estimate the artificial muscle position and force. [ 36 ] A nonlinear adaptive control algorithm can then be presented to deal with the disturbances and uncertainties.…”

Section: Discussionmentioning

confidence: 99%

Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery

et al. 2023

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Three‐dimensional (3D) bioprinting technology offers great potential in the treatment of tissue and organ damage. Conventional approaches generally rely on a large form factor desktop bioprinter to create in vitro 3D living constructs before introducing them into the patient's body, which poses several drawbacks such as surface mismatches, structure damage, and high contamination along with tissue injury due to transport and large open‐field surgery. In situ bioprinting inside a living body is a potentially transformational solution as the body serves as an excellent bioreactor. This work introduces a multifunctional and flexible in situ 3D bioprinter (F3DB), which features a high degree of freedom soft printing head integrated into a flexible robotic arm to deliver multilayered biomaterials to internal organs/tissues. The device has a master‐slave architecture and is operated by a kinematic inversion model and learning‐based controllers. The 3D printing capabilities with different patterns, surfaces, and on a colon phantom are also tested with different composite hydrogels and biomaterials. The F3DB capability to perform endoscopic surgery is further demonstrated with fresh porcine tissue. The new system is expected to bridge a gap in the field of in situ bioprinting and support the future development of advanced endoscopic surgical robots.

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Section: Discussionmentioning

confidence: 99%

Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery

et al. 2023

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“…In addition, there are some soft optical sensors based on other principles, e.g., optically diffuse [ 318,319 ] and silicone diaphragm reflection. [ 320 ] However, due to their technical difficulties in miniaturization or integration with SSIs, no further introduction is given here.…”

Section: Human–robot Interactionmentioning

confidence: 99%

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Zhu

Lyu

et al. 2021

Advanced Intelligent Systems

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Endowed with the expected visions for future surgery, minimally invasive surgery (MIS) has become one of the most rapid developing areas in modern surgery. Soft robotics, which originates from interdisciplinary advances in materials, fabrication, and electronics, featuring better adaptability and safer interaction, holds great promises in addressing current technical challenges in MIS, which are difficult to be solved with current rigid robotic technologies. For the first time, herein, the expected characteristics of next-generation MIS from the surgeons' perspectives are analyzed and the recent progress of soft surgical instruments from three different aspects is comprehensively summarized: engineering design, fabrication techniques, and human-robot interaction. Perspectives of nextgeneration soft surgical robots are then discussed, where some exciting possibilities are emphasized. It is believed that further developments of intelligent soft robotics enable the next-generation MIS to agilely navigate to the target and conduct dexterous diagnostic or therapeutic procedures without any trade-offs in invasiveness and ultimately be a propitious solution for future surgery.

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“…This sensor estimates the shortening of the muscle by measuring the changes in its inner diameter. Other optical sensors [32] employ a light-emitting-diode (LED) and a Si photodiode to measure the variations of the light intensity diffused back from a silicone diaphragm that is proportional to the changes in the muscle length.…”

Section: Introductionmentioning

confidence: 99%

Design and Characterization of a Mckibben Pneumatic Muscle Prototype with an Embedded Capacitive Length Transducer

et al. 2022

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The McKibben muscle types are pneumatic actuators known to be intrinsically safe for their high power-to-weight ratio. For these reasons, they are suitable for robotic, biomechanical, and medical applications. In these application fields and, above all, in collaborative robotics, where safety must be ensured for human–robot interactions, the values of pressure, force, and length are necessary and must be continuously monitored and controlled. Force and pressure transducers are commercially available to be integrated into a McKibben muscle type. On the contrary, no commercial-length transducers can be adopted. This work presents a novel McKibben muscle prototype with an embedded capacitive-length transducer. The latter is a cylindrical capacitor made of a telescopic system composed of two tubes: one of its ends is connected to the muscle. A change in the length of the muscle causes a proportional change in the transducer capacitance. The paper reports in detail on the working principle of McKibben’s muscle, its fabrication, characterization, and validation of four prototype capacitive transducers. The results achieved from the experimental activities demonstrate that it is possible to control the variations of the muscle length relative to its elongation and compression for values less than 1 mm. This is the consequence of the ability to measure the transducer capacitance with a typical statistical relative indetermination better than 0.25%, which is a figure of merit for the reliability and mechanical and electrical stability of the proposed McKibben muscle prototype. Moreover, it has been demonstrated that the transducer capacitance as a function of the muscle length is linear, with maximum deviations from linearity equal to 2.44% and 5.22% during the muscle elongation and compression, respectively.

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Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation

Cited by 26 publications

References 29 publications

Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery

Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Design and Characterization of a Mckibben Pneumatic Muscle Prototype with an Embedded Capacitive Length Transducer

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