For a given displacement of the cables and cable routing, the pose of a continuum robot is obtained. Using experiments conducted on a cable driven robot, it is demonstrated that the optimization based model provides a good estimate of the forward kinematics with maximum error less than 5% of ...
Cable-driven soft continuum robots are important tools in minimally invasive surgery (MIS) to reduce the lesions, pain and risk of infection. The feasibility of employing deep reinforcement learning (DRL) for controlling cable-driven continuum robots has
Profile estimation for variably routed cable-driven continuum robot.Forward and inverse kinematics of multi-segmented cable-driven continuum robot.Experimental validation with and without an obstacle in robot workspace.Example application of robot with soft gripper generating spiral profile for gripping.关键...
ORIGINALARTICLE Kinematicanalysisandnavigationmethodofacable‐driven continuumrobotusedforminimallyinvasivesurgery FeiQi 1 | FengJu 1,2 | DongmingBai 1 | YaoyaoWang 1,2 | BaiChen 1 1 CollegeofMechanicalandElectrical Engineering,NanjingUniversityofAeronautics andAstronautics,Nanjing,China 2 TheStateKey...
Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is ... MS Moses,RJ Murphy,MDM Kutzer,... - 《IEE...
This paper presents the motion modeling of a cable-driven, single backbone continuum robot via the vector form intrinsic finite element (VFIFE) method. The... ML Wang,IH Kuo,J Lee - 《Journal of the Chinese Institute of Engineers》 被引量: 0发表: 2022年 Generalized Flexible Hybrid Cable-...
Motion modelling and error compensation of a cable‐driven continuum robot for applications to minimally invasive surgery Background The continuum robot is widely used in minimally invasive surgery (MIS) because of its flexibility, dexterity and safety. However, because of the... F Qi,F Ju,D Bai...
- 《Soft Robot》 被引量: 8发表: 2017年 Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various ...
(A) The spine-inspired back exoskeleton leverages on a hyperredundant continuum mechanism. Thanks to its compliance, this wearable robot provides assistive force while being conformal to the anatomy of the human back and unobtrusive for natural motion. (B) A healthy subject wearing the back ...
Design and modeling of a novel DNA-inspired helix-based continuum mechanism (DHCM) Helix-based structures have been popularly used in flexible surgical tool designs due to their large bending range. However, the helix structures also have low compressional and torsional stiffness, which results in ...