In this paper, an optimization based strategy is proposed to estimate the forward kinematics of a continuum robot with arbitrary and general cable routing. For a given displacement of the cables and cable routing, the pose of a continuum robot is obtained. Using experiments conducted on a cable...
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...
This report describes continuing development of a novel compact surgical assistant robot to control the orientation and insertion depth of a laparoscopic endoscope during abdomenal surgery. The steril PJ Berkelman,P Cinquin,J Troccaz,... - International Conference on Medical Image Computing & Computer...
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-...
(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 ...
Serial robot manipulators have their servo motors with reduction gears on the link joints. When it comes to hyper-redundant robots, this kind of joint actu... Y Bulut,ES Conkur - 《Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science》 被引量...
By pulling the cables, the continuum robot assumes the shape of an arc of a circle in 3D space. In the literature, forward kinematics of the robot has been developed using differential geometry of 3D curves. In this paper, we show that forward kinematics can also be obtained by discretizing...
Cable-driven continuum robotDesignKinematics modelingWorkspace analysisIn recent years, research on continuum robots has advanced significantly to overcome the limitations of rigid-link robots that particularly suffer when working in a confined environment and have some insecure interaction. To address these...