The KSI tentacle manipulator

Immega, Guy; Antonelli, Keith B.

doi:10.1109/robot.1995.525733

Cited by 126 publications

(71 citation statements)

References 2 publications

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“…When pressurized these actuators increase in volume while maintaining the same surface area. Yarlott [143] proposed a folded structure that unfolds when pressurized and thus contracts (figure 4(a)) (a) [143] (b) [73] (c) [58] (d) [19] The work of Kukolj [73] shows an actuator with a net as the fiber reinforcement. This eliminates the friction between the fiber strands, but the friction between membrane and fiber reinforcement remains ( figure 4(b)).…”

Section: Flexible Fluidic "Contraction" Actuatorsmentioning

confidence: 99%

See 1 more Smart Citation

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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Section: Flexible Fluidic "Contraction" Actuatorsmentioning

confidence: 99%

“…This eliminates the friction between the fiber strands, but the friction between membrane and fiber reinforcement remains ( figure 4(b)). Immega [58] enhanced this idea by implementing a stiff, folded membrane in between the fiber mesh (figure 4(c)).…”

Section: Flexible Fluidic "Contraction" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…The design of these robots are inspired by movements of animals' parts such as tongues, elephant trunks and tentacles etc. The unusual compliance and redundant degrees of freedom of these robots provide strong potential to achieve delicate tasks successfully even in cluttered and/or unstructured environments such as undersea operations Lane et al (1999), urban search and rescue, wasted materials handling Immega & Antonelli (1995) robot. Due to the size requirement of the robot, there are challenges on how to miniaturize sensor system integrated into the small-scale robot to implement automatic guidance of progression inside the human colon.…”

Section: Micro-robotic Tip: Colobotmentioning

confidence: 99%

A Biomimetic steering robot for Minimally invasive surgery application

Chen¹,

Pham²,

Maalej³

et al. 2010

Advances in Robot Manipulators

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Minimally Invasive Surgery represents the future of many types of medical interventions such as keyhole neurosurgey or transluminal endoscopic surgery. These procedures involve insertion of surgical instruments such as needles and endoscopes into human body through small incision/ body cavity for biopsy and drug delivery. However, nearly all surgical instruments for these procedures are inserted manually and there is a long learning curve for surgeons to use them properly. Many research efforts have been made to design active instruments (endoscope, needles) to improve this procedure during last decades. New robot mechanisms have been designed and used to improve the dexterity of current endoscope. Usually these robots are flexible and can pass the constrained space for fine manipulations. In recent years, a continuum robotic mechanism has been investigated and designed for medical surgery. Those robots are characterized by the fact that their mechanical components do not have rigid links and discrete joints in contrast with traditional robot manipulators. The design of these robots is inspired by movements of animals' parts such as tongues, elephant trunks and tentacles. The unusual compliance and redundant degrees of freedom of these robots provide strong potential to achieve delicate tasks successfully even in cluttered and unstructured environments. This chapter will present a complete application of a continuum robot for Minimally Invasive Surgery of colonoscopy. This system is composed of a micro-robotic tip, a set of position sensors and a real-time control system for guiding the exploration of colon. Details will be described on the modeling of the used pneumatic actuators, the design of the mechanical component, the kinematic model analysis and the control strategy for automatically guiding the progression of the device inside the human colon. Experimental results will be presented to check the performances of the whole system within a transparent tube.

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“…In order to control a hyper-redundant robot it has to develop a method to compute the positions for each one of his segments (Immega & Antonelli, 1995). By consequence, given a desired curvature S*(x, t f ) as sequence of semi circles, identify how to move the structure, to obtain s(x, t) such that…”

Section: Kinematicsmentioning

confidence: 99%