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1
Luo, Kelan. "Modeling of continuum robots: A review." Journal of Physics: Conference Series 2634, no. 1 (November 1, 2023): 012029. http://dx.doi.org/10.1088/1742-6596/2634/1/012029.
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Abstract Continuum robots offer good environmental adaptability and superior safety in human-robot interaction. This paper describes the state of the art in continuum robot modeling and summarizes and evaluates the mainstream continuum robot modeling approaches in the current community through three different classifications: continuum models, geometric models, and data-driven models. Finally, the paper provides a summary of existing research approaches and provides future research opportunities in continuum robot modeling.
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Ji, Kenneth, and Yuyu Fang. "A review of continuum robot." Applied and Computational Engineering 36, no. 1 (January 22, 2024): 265–70. http://dx.doi.org/10.54254/2755-2721/36/20230460.
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This paper comprehensively reviews continuum robots and their application in medical domains. Unlike traditional rigid robots, continuum robots possess continuous, flexible structures that enhance dexterity and adaptability. Their compliant nature allows safer human-robot collaboration, while their deformability permits navigation through confined spaces and conformance to anatomy. These advantages make continuum robots promising for medical applications like minimally invasive surgery. The paper discusses continuum robots' fundamental principles, including kinematics, dynamics, mechanical design, modelling, and control strategies. It highlights the unique benefits of continuum robots compared to rigid counterparts, especially for medical use. Challenges such as design optimization, accurate control and modelling, sensing, miniaturization, and technology integration are also addressed. Enhancing manipulation capabilities, developing miniaturized continuum robots, achieving autonomous operation, integrating imaging modalities, and validating safety and efficacy through clinical trials are suggested for future work. This review offers valuable insights into continuum robotics technology and its immense potential to transform medical interventions through precise, minimally invasive procedures.
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Walker, Ian D. "Continuous Backbone “Continuum” Robot Manipulators." ISRN Robotics 2013 (July 16, 2013): 1–19. http://dx.doi.org/10.5402/2013/726506.
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This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.
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Li, Yunfei, Qiuhao Wang, and Qian Liu. "Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning." Applied Sciences 13, no. 20 (October 14, 2023): 11289. http://dx.doi.org/10.3390/app132011289.
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Kinematic modeling is essential for planning and controlling continuum robot motion. The traditional Denavit Hartenberg (DH) model involves complex matrix multiplication operations, resulting in computationally intensive inverse solutions and trajectory planning. Solving position and orientation changes in continuum robots using the double quaternion rule can reduce computational complexity. However, existing dual quaternion methods are direct equational transformations of DH rules and do not give a complete modeling process. They usually require more interpretability when applying continuum robot kinematic modeling. This paper uses the dual quaternion method to establish a kinematic model of a continuum robot. It uses a two-section continuum robot model to compare the advantages of dual quaternion and traditional modeling methods. In addition, this paper proposes a five-polynomial interpolation algorithm based on the dual quaternion method for trajectory planning of continuum robots. This method accurately models spatial bending and torsional motions of singularity-free continuum robots.
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Wooten, Michael, and Ian Walker. "Vine-Inspired Continuum Tendril Robots and Circumnutations." Robotics 7, no. 3 (September 18, 2018): 58. http://dx.doi.org/10.3390/robotics7030058.
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Smooth-backboned “continuum” robot structures offer novel ways to create robot shapes and movements. In this paper, we show how circumnutation, a motion strategy commonly employed by plants, can be implemented and usefully exploited with continuum robots. We discuss how the kinematics of circumnutation, which combines local backbone growth with periodic backbone bending, can be created using extensible continuum robot hardware. The underlying kinematics are generated by adapting kinematic models of plant growth. We illustrate the effectiveness of that approach with experimental results with a tendril-like robot exploring a congested environment.
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Liu, Zhipeng, Linsen Xu, Xingcan Liang, and Jinfu Liu. "Stiffness-Tuneable Segment for Continuum Soft Robots with Vertebrae." Machines 10, no. 7 (July 18, 2022): 581. http://dx.doi.org/10.3390/machines10070581.
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In addition to high compliance to unstructured environments, soft robots can be further improved to gain the advantages of rigid robots by increasing stiffness. Indeed, realizing the adjustable stiffness of soft continuum robots can provide safer interactions with objects and greatly expand their application range. To address the above situation, we propose a tubular stiffening segment based on layer jamming. It can temporarily increase the stiffness of the soft robot in a desired configuration. Furthermore, we also present a spine-inspired soft robot that can provide support in tubular segments to prevent buckling. Theoretical analysis was conducted to predict the stiffness variation of the robot at different vacuum levels. Finally, we integrated the spine-inspired soft robot and tubular stiffening segment to obtain the tuneable-stiffness soft continuum robot (TSCR). Experimental tests were performed to evaluate the robot’s shape control and stiffness tuning effectiveness. Experimental results showed that the bending stiffness of the initial TSCR increased by more than 15× at 0°, 30× at 90°, and 60× in compressive stiffness.
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Li, Minhan, Rongjie Kang, Shineng Geng, and Emanuele Guglielmino. "Design and control of a tendon-driven continuum robot." Transactions of the Institute of Measurement and Control 40, no. 11 (March 1, 2017): 3263–72. http://dx.doi.org/10.1177/0142331216685607.
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Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.
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Zhong, Yong, Luohua Hu, and Yinsheng Xu. "Recent Advances in Design and Actuation of Continuum Robots for Medical Applications." Actuators 9, no. 4 (December 19, 2020): 142. http://dx.doi.org/10.3390/act9040142.
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Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.
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Russo, Matteo, Elie Gautreau, Xavier Bonnet, and Med Amine Laribi. "Continuum Robots: From Conventional to Customized Performance Indicators." Biomimetics 8, no. 2 (April 6, 2023): 147. http://dx.doi.org/10.3390/biomimetics8020147.
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Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics either fail to capture the key advantages of continuum designs, such as their capability to operate in complex environments thanks to their slender shape and flexibility, or see them as detrimental (e.g., compliance). Previous work has rarely addressed this issue, and never in a systematic way. Therefore, this paper discusses the facets of a continuum robot performance that cannot be characterized by existing indicator and aims at defining a tailored framework of geometrical specifications and kinetostatic indicators. The proposed framework combines the geometric requirements dictated by the target environment and a methodology to obtain bioinspired reference metrics from a biological equivalent of the continuum robot (e.g., a snake, a tentacle, or a trunk). A numerical example is then reported for a swimming snake robot use case.
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He, Bin, Shoulin Xu, and Zhipeng Wang. "Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam." Mathematical Problems in Engineering 2018 (2018): 1–16. http://dx.doi.org/10.1155/2018/6910468.
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Continuum robots have become a focus for extensive research, since they can work well in complex and confined environments. The main contribution of this paper is to establish a stiffness model of a single section multibackbone continuum robot and analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. First, a stiffness model which indicates the end configuration of continuum robot under external load is deduced by the screw theory and Euler-Bernoulli beam. Then, the stiffness elements are fully analyzed, therefore, obtaining the influence of the structural parameters of continuum robot on the stiffness elements. Meanwhile, a numerical analysis of stiffness elements is given. Furthermore, the minimum and maximum rotation/translation stiffness are introduced to analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. Finally, the experiments are used to validate the proposed stiffness model. The experimental results show that the proposed stiffness model of continuum robot is correct and the errors are less than 7%.
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Wang, Mingyuan, Jianjun Yuan, Sheng Bao, Liang Du, and Shugen Ma. "Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission." Biomimetics 8, no. 5 (September 18, 2023): 433. http://dx.doi.org/10.3390/biomimetics8050433.
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Continuum robots have good adaptability in unstructured and complex environments. However, affected by their inherent nature of flexibility and slender structure, there are challenges in high-precision motion and load. Thus, stiffness adjustment for continuum robots has consistently attracted the attention of researchers. In this paper, a stiffness adjustment mechanism (SAM) is proposed and built in a growth-controllable continuum robot (GCCR) to improve the motion accuracy in variable scale motion. The self-stiffness adjustment is realized by antagonism through cable force transmission during the length change of the continuum robot. With a simple structure, the mechanism has a scarce impact on the weight and mass distribution of the robot and required no independent actuators for stiffness adjustment. Following this, a static model considering gravity and end load is established. The presented theoretical static model is applicable to predict the shape deformations of robots under different loads. The experimental validations showed that the maximum error ratio is within 5.65%. The stiffness of the robot can be enhanced by nearly 79.6%.
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Kolpashchikov, Dmitrii, Olga Gerget, and Viacheslav Danilov. "FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature." Robotics 11, no. 6 (November 15, 2022): 128. http://dx.doi.org/10.3390/robotics11060128.
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A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely describe the kinematics of a real-life continuum robot. As a result, variable curvature assumptions describe the kinematics of the continuum robot better, however, they are more complicated to formulate and work with. In particular, the existing methods of solving the inverse kinematics problem of multisection continuum robots with variable curvature suffer from a variety of deficiencies. Those deficiencies include complex matrix calculations, singularity problems, unscalability, and inability to find a numeric solution in some cases. In this work, we present FABRIKx: fast and reliable algorithm to solve the problem of inverse kinematics of the multisection continuum robot with variable curvature. In particular, to describe the variable curvature, we utilize a piecewise constant curvature assumption. The proposed algorithm combines both tangent and chord approaches to solve the inverse kinematics problem. The inverse kinematics of a single bending section of piecewise constant curvature is also described. To evaluate FABRIKx effectiveness, we compare it with the Jacobian-based and FABRIKc-based algorithms via simulation studies for different robots. The obtained results show that FABRIKx demonstrates a higher success rate and a lower solution time.
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Zhang, Gang, Fuxin Du, Shaowei Xue, Hao Cheng, Xingyao Zhang, Rui Song, and Yibin Li. "Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery." Machines 10, no. 6 (June 11, 2022): 468. http://dx.doi.org/10.3390/machines10060468.
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The continuum robot is a new type of bionic robot which is widely used in the medical field. However, the current structure of the continuum robot limits its application in the field of minimally invasive surgery. In this paper, a bio-inspired compound continuum robot (CCR) combining the concentric tube continuum robot (CTR) and the notched continuum robot is proposed to design a high-dexterity minimally invasive surgical instrument. Then, a kinematic model, considering the stability of the CTR part, was established. The unstable operation of the CCR is avoided. The simulation of the workspace shows that the introduction of the notched continuum robot expands the workspace of CTR. The dexterity indexes of the robots are proposed. The simulation shows that the dexterity of the CCR is 1.472 times that of the CTR. At last, the length distribution of the CCR is optimized based on the dexterity index by using a fruit fly optimization algorithm. The simulations show that the optimized CCR is more dexterous than before. The dexterity of the CCR is increased by 1.069 times. This paper is critical for the development of high-dexterity minimally invasive surgical instruments such as those for the brain, blood vessels, heart and lungs.
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Tian, Yingzhong, Mingxuan Luan, Xu Gao, Wenbin Wang, and Long Li. "Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods." Mathematical Problems in Engineering 2016 (2016): 1–7. http://dx.doi.org/10.1155/2016/6984194.
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This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.
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Gao, GuoHua, Pengyu Wang, and Hao Wang. "Follow-the-leader motion strategy for multi-section continuum robots based on differential evolution algorithm." Industrial Robot: the international journal of robotics research and application 48, no. 4 (June 7, 2021): 589–601. http://dx.doi.org/10.1108/ir-01-2021-0001.
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Purpose The purpose of this paper is to present a follow-the-leader motion strategy for multi-section continuum robots, which aims to make the robot have the motion ability in a confined environment and avoid a collision. Design/methodology/approach First, the mechanical design of a multi-section continuum robot is introduced and the forward kinematic model is built. After that, the follow-the-leader motion strategy is proposed and the differential evolution (DE) algorithm for calculating optimal posture parameters is presented. Then simulations and experiments are carried out on a series of predefined paths to analyze the performance of the follow-the-leader motion. Findings The follow-the-leader motion can be well performed on the continuum robots this study proposes in this research. The experimental results show that the deviation from the path is less than 9.7% and the tip error is no more than 15.6%. Research limitations/implications Currently, the follow-the-leader motion is affected by the following factors such as gravity and continuum robot design. Furthermore, the position error is not compensated under open-loop control. In future work, this paper will improve the accuracy of the robot and introduce a closed-loop control strategy to improve the motion accuracy. Originality/value The main contribution of this paper is to present an algorithm to generate follow-the-leader motion of the continuum robot based on DE. This method is suitable for solving new arrangements in the process of following a nonlinear path. Then, it is expected to promote the engineering application of the continuum robot.
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Sun, Cijing, Lisha Chen, Jinguo Liu, Jian S. Dai, and Rongjie Kang. "A hybrid continuum robot based on pneumatic muscles with embedded elastic rods." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 1 (January 8, 2019): 318–28. http://dx.doi.org/10.1177/0954406218822013.
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Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.
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Zhou, Pan, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu. "Design and kinematics of a lightweight cruciform continuum robot." Mechanical Sciences 14, no. 1 (March 2, 2023): 99–109. http://dx.doi.org/10.5194/ms-14-99-2023.
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Abstract. The design of new lightweight and dexterous configurations is a major research focus for continuum robotics. This work proposes a cruciform continuum robot. Its unique feature is that it is formed by multiple cruciform-arranged elastic sheets with a single dimension of motion connected in series, and thus it has low-coupling motion characteristics. In addition, the cruciform continuum robot has the advantages of lighter weight (65 g), better dexterity, and higher motion accuracy. In this paper, the forward and inverse kinematics models of the cruciform continuum robot are established by geometric methods based on the assumption of constant curvature, and its workspace is analysed. It is experimentally verified that the tip position errors are less than 1 mm, and the cable length errors are less than 0.4 mm. Further, the cruciform continuum robot is successfully used for the nucleic acid detection simulation experiment, which confirms its good dexterity and man–machine safety. The main contribution of this paper is to provide a new configuration for the lightweight and dexterous continuum robots, and to further provide a reference method for improving their modelling accuracy from the perspective of structure.
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Wang, Cong, Shineng Geng, David T. Branson, Chenghao Yang, Jian S. Dai, and Rongjie Kang. "Task space-based orientability analysis and optimization of a wire-driven continuum robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 23-24 (November 28, 2019): 7658–68. http://dx.doi.org/10.1177/0954406219889083.
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Compared to traditional rigid robots, continuum robots have intrinsic compliance and therefore behave dexterously when performing tasks in restricted environments. Although there have been many researches on the design and application of continuum robots, a theoretical investigation of their dexterity is still lacking. In this paper, a two-joint wire-driven continuum robot is utilized to demonstrate dexterity by introducing the concept of orientability taking into account two indices, the accessible ratio and angle of the robot, when its tip reaches a certain task space inside the workspace. Based on the kinematic model, the accessible ratio and angle of the continuum robot are calculated using the Monte-Carlo method. From this, the influence of individual joint lengths on the proposed orientability indices and the optimal joint length are then investigated via an improved particle swarm optimization algorithm. Finally, the presented methods were validated through experiments showing that the use of optimal joint length can increase the accessible ratio and reduce the minimum accessible angle by more than 10° in the task space.
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Bhattacherjee, Saptak, Sananda Chatterjee, and Subhasis Bhaumik. "Carbon nanotube/glycerol embedded low cost flexible sensor for large deflection sensing of continuum manipulators." Measurement Science and Technology 33, no. 4 (January 21, 2022): 045107. http://dx.doi.org/10.1088/1361-6501/ac46f0.
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Abstract Large deflection sensing is highly crucial for proper positioning and control of continuum robots during robot assisted minimally invasive surgery (MIS). Existing techniques suffer from eletromagnetic noise susceptibility, harmful radiation exposure, limited range, bio-incompatibility and necessity of expensive instruments. In the present study, we propose a multi-walled carbon nanotubes/polyglycerol based low cost, flexible and biocompatible sensor which could allow safer, faster and accurate angular deflection measurement of continuum robots for biomedical applications. Experimental results demonstrate that the sensor is stretchable up to 100%, provides a gauge factor up to 11.65, have response time around 8 ms, durability of −0.14% for cyclic loading and unloading and show very small creep up to ± 0.0008 ( ± 2.88 % ) . Furthermore, the sensor can measure continuum robot deflection up to ± 150 ∘ with a sensitivity of 666.67 ohms/degree, with a maximum error of 1.67% and maximum hysteresis of 1.41%. Thus, wide range, low cost, fast response, and biocompatibility justify the potential of the proposed sensor for large deflection sensing of continuum robots during robot assisted MIS.
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Ye, Changlong, Zhanpeng Liu, Suyang Yu, Zifu Fan, and Yinchao Wang. "Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella." Biomimetics 8, no. 3 (June 26, 2023): 271. http://dx.doi.org/10.3390/biomimetics8030271.
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Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement. This gives soft robots good locomotion performance in specific environments but poor performance in others. In this paper, we propose a leg–wheel mechanism inspired by bacterial flagella and use it to design a leg–wheel robot. This mechanism employs a tendon-driven continuum structure to replicate the bacterial flagellar filaments, while servo and gear components mimic the action of bacterial flagellar motors. By utilizing twisting and swinging motions of the continuum structure, the robot achieves both wheeled and legged locomotion. The paper provides comprehensive descriptions and detailed kinematic analysis of the mechanism and the robot. To verify the feasibility of the robot, a prototype was implemented, and experiments were performed on legged mode, wheeled mode, and post-overturning motion. The experimental results demonstrate that the robot can achieve legged and wheeled motions. Moreover, it is also demonstrated that the robot still has mobility after overturning. This expands the applicability scenarios of the current soft mobile robot.
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Meng, Guang Zhu, Ling Yu Sun, Ping Peng, Xian Chun Meng, Hong Mei Wang, and Jian Wei Zhang. "Jacobian Matrix of a Novel Continuum Robot for Search and Rescue." Applied Mechanics and Materials 303-306 (February 2013): 1695–701. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1695.
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In this paper, a novel continuum robot for search and rescue is presented. A forward kinematic model is derived by product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, based on the differential kinematics using the chain rule, the overall Jacobian of the robot is established. This approach can be generally applied to various continuum robots, regardless of the specific actuation system used.
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Ma, Nan, Stephen Monk, and David Cheneler. "Modelling and Analysis of the Spital Branched Flexure-Hinge Adjustable-Stiffness Continuum Robot." Robotics 11, no. 5 (September 14, 2022): 97. http://dx.doi.org/10.3390/robotics11050097.
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Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees of freedom (DoF), large workspace and their ability to operate dexterously. However, the positional accuracy of conventional continuum robots with a backbone structure is usually low due to the low stiffness of the often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms with adjustable stiffness within the continuum robot to improve its stiffness and mechanical performance, thus enabling it to be operated with high accuracy and large payloads. To support the prediction of the improved performance of the adjustable stiffness continuum robot, a kinetostatic model was developed by considering the generalized internal loads that are caused by the deformation of the flexure-hinge mechanism and the structural stiffening caused by the external loads on the end-effector. Finally, experiments were conducted on physical prototypes of 2-DoF and 6-DoF continuum robots to validate the model. It was found that the proposed kinetostatic model validates experimental observations within an average deviation of 9.1% and 6.2% for the 2-DoF and 6-DoF continuum robots, respectively. It was also found that the kinematic accuracy of the continuum robots can be improved by a factor of 32.8 by adding the adjustable stiffness mechanisms.
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Zhao, Jiang Hai, Xiao Dong Ye, and Wen Huan Qian. "Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints." Applied Mechanics and Materials 461 (November 2013): 278–83. http://dx.doi.org/10.4028/www.scientific.net/amm.461.278.
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Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.
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Dai, Yicheng, Zuan Li, Xinjie Chen, Xin Wang, and Han Yuan. "A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping." Micromachines 14, no. 2 (February 10, 2023): 416. http://dx.doi.org/10.3390/mi14020416.
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With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In this paper, a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation. The kinematic model of the robot is proposed and verified through simulations and experiments. Results show that the maximum repeat positioning error is no larger than 1 mm and the maximum tracking error is no larger than 2 mm, compared to the 300 mm long arm. In addition, the demonstration experiment of grasping a ball indicates the good performance of the robot in compliant grasping.
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Hannan, M. W., and I. D. Walker. "Real-time shape estimation for continuum robots using vision." Robotica 23, no. 5 (August 23, 2005): 645–51. http://dx.doi.org/10.1017/s0263574704001018.
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This paper describes external camera-based shape estimation for continuum robots. Continuum robots have a continuous backbone made of sections which bend to produce changes of configuration. A major difficulty with continuum robots is the determination of the robot's shape, as there are no discrete joints. This paper presents a method for shape determination based on machine vision. Using an engineered environment and image processing from a high speed camera, shape determination of a continuum robot is achieved. Experimental results showing the effectiveness of the technique on our Elephant's Trunk Manipulator are presented.
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Giri, N., and I. Walker. "Continuum robots and underactuated grasping." Mechanical Sciences 2, no. 1 (February 8, 2011): 51–58. http://dx.doi.org/10.5194/ms-2-51-2011.
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Abstract. We discuss the capabilities of continuum (continuous backbone) robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
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Moradi Dalvand, Mohsen, Saeid Nahavandi, and Robert D. Howe. "An Analytical Tension Model for Continuum Robots with n Generally Positioned Tendons." Journal of Medical Robotics Research 04, no. 03n04 (September 2019): 1942003. http://dx.doi.org/10.1142/s2424905x19420030.
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The estimation of tension loads in multi-tendon continuum robots or catheters plays an important role not only in the design process but also in the control algorithm to avoid slack. An analytical tension loading model is developed that, for any given beam configuration within the workspace, calculates tendon tensions in [Formula: see text]-tendon continuum robots with general tendon positioning. The model accounts for the bending and axial compliance of the manipulator as well as tendon compliance. A 6-tendon continuum robot integrated with a stereo vision-based 3D reconstruction system is utilized to experimentally validate the proposed analytical model in open-loop control architecture. The proposed model demonstrates around 95% accuracy in estimating tendon tensions in a continuum robot with general tendon positioning and axial stretch in its tendons for all of the trials and experiments.
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Black, David, Sven Lilge, Carolin Fellmann, Anke V. Reinschluessel, Lars Kreuer, Arya Nabavi, Horst K. Hahn, Ron Kikinis, and Jessica Burgner-Kahrs. "Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot." Journal of Medical Robotics Research 04, no. 02 (June 2019): 1950004. http://dx.doi.org/10.1142/s2424905x19500041.
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Tubular continuum robots can follow complex curvilinear paths to reach restricted areas within the body. Using teleoperation, these robots can help minimize incisions and reduce trauma. However, drawbacks include the lack of haptic feedback and a limited view of the situs, often due to camera occlusion. This work presents novel auditory display to enhance interaction with such continuum robots to increase accuracy and path-following efficiency and reduce cognitive workload. We recreate a typical use case with a test environment that simulates a transnasal intervention through the sphenoidal sinus including a simulated continuum robot. Distance information is mapped to changes in a real-time audio synthesizer using sung voice to provide navigation cues. User studies with novice participants and clinicians were performed to evaluate the effects of auditory display on accuracy, task time, path following efficiency, subjective workload, and usability. When using auditory display, participants exhibit significant increase in accuracy, efficiency, and task time compared to visual-only display. Auditory display reduced subjective workload and raised usefulness and satisfaction ratings. The addition of auditory display for augmenting interaction with a teleoperated continuum robot has shown to benefit performance as well as usability. The method could benefit other scenarios in navigated surgery to increase accuracy and reduce workload.
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Sincak, Peter, Erik Prada, Ľubica Miková, Roman Mykhailyshyn, Martin Varga, Tomas Merva, and Ivan Virgala. "Sensing of Continuum Robots: A Review." Sensors 24, no. 4 (February 18, 2024): 1311. http://dx.doi.org/10.3390/s24041311.
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The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in continuum robots can be divided into shape perception and environment perception. The environment perception is focusing on sensing the interactions between the robot and environment. These sensors are often embedded on an outer layer of the robots, so the interactions can be detected. The shape perception is sensing the robot’s shape using various principles. There are three main groups of sensors that use the properties of electricity, magnetism and optics to measure the shape of the continuum robots. The sensors based on measuring the properties of electricity are often based on measuring the electrical resistance or capacitance of the flexible sensor. Sensors based on magnetism use properties of permanent magnets or coils that are attached to the robot. Their magnetic field, flux or other properties are then tracked, and shape reconstruction can be performed. The last group of sensors is mostly based on leveraging the properties of traveling light through optical fibers. There are multiple objectives of this work. Objective number one is to clearly categorize the sensors and make a clear distinction between them. Objective number two is to determine the trend and progress of the sensors used in continuum robotics. And finally, the third objective is to define the challenges that the researchers are currently facing. The challenges of sensing the shape or the interaction with the environment of continuum robots are currently in the miniaturization of existing sensors and the development of novel sensing methods.
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Yarbasi, Efe Yamac, and Evren Samur. "Design and evaluation of a continuum robot with extendable balloons." Mechanical Sciences 9, no. 1 (February 7, 2018): 51–60. http://dx.doi.org/10.5194/ms-9-51-2018.
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Abstract. This article presents the design and preliminary evaluation of a novel continuum robot actuated by two extendable balloons. Extendable balloons are utilized as the actuation mechanism of the robot, and they are attached to the tip from their slack sections. These balloons can extend very much in length without having a significant change in diameter. Employing two balloons in an axially extendable, radially rigid flexible shaft, radial strain becomes constricted, allowing high elongation. As inflated, the balloons apply a force on the wall of the tip, pushing it forward. This force enables the robot to move forward. The air is supplied to the balloons by an air compressor and its flow rate to each balloon can be independently controlled. Changing the air volumes differently in each balloon, when they are radially constricted, orients the robot, allowing navigation. Elongation and force generation capabilities and pressure data are measured for different balloons during inflation and deflation. Afterward, the robot is subjected to open field and maze-like environment navigation tests. The contribution of this study is the introduction of a novel actuation mechanism for soft robots to have extreme elongation (2000 %) in order to be navigated in substantially long and narrow environments.
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Liu, Jiaxing, Sibo Shang, Gang Zhang, Shaowei Xue, Hao Cheng, Peng Qi, and Fuxin Du. "Curvature Correction of a Notched Continuum Robot Based on a Static Model Considering Large Deformation and Friction Effect." Machines 10, no. 9 (September 7, 2022): 778. http://dx.doi.org/10.3390/machines10090778.
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Continuum robots are often used as wrist joints in medical robots because of their high dexterity and flexibility. Especially, the notched continuum robot (NCR) is used in the miniaturized wristed surgical robot. The Piecewise Constant Curvature (PCC) assumption is often used in the design of NCR. However, due to the friction effect, ideal PCC is difficult to achieve. Static analysis is a necessary means to correct the curvature of NCR. The static modeling of NCR is often based on the theory of small deformation. However, this cannot obtain accurate solutions at large bending angles. In this paper, a static model of a triangular-notched continuum robot is proposed. It presents a curvature correction method of NCR, considering large deformation. In addition, the friction effect is considered in the correction of PCC. The static model is derived from the end notch. Based on the Coulomb friction model, the recurrence relationship of the force on the cable is obtained. Then the elliptic integral solution corresponding to the large deformation assumption is calculated. The deformation parameters of the NCR are obtained by numerical iteration. Finally, the capability and validity of the static model proposed in this paper are verified in the experiment. This paper is of great significance for establishing an accurate static model for curvature correction and design of the notched continuum robot.
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Kim, Yoonho, German A. Parada, Shengduo Liu, and Xuanhe Zhao. "Ferromagnetic soft continuum robots." Science Robotics 4, no. 33 (August 28, 2019): eaax7329. http://dx.doi.org/10.1126/scirobotics.aax7329.
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Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot’s body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot’s body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.
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Qi, Fei, Feng Ju, Dong Ming Bai, and Bai Chen. "Kinematics optimization and static analysis of a modular continuum robot used for minimally invasive surgery." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 2 (December 11, 2017): 135–48. http://dx.doi.org/10.1177/0954411917747008.
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For the outstanding compliance and dexterity of continuum robot, it is increasingly used in minimally invasive surgery. The wide workspace, high dexterity and strong payload capacity are essential to the continuum robot. In this article, we investigate the workspace of a cable-driven continuum robot that we proposed. The influence of section number on the workspace is discussed when robot is operated in narrow environment. Meanwhile, the structural parameters of this continuum robot are optimized to achieve better kinematic performance. Moreover, an indicator based on the dexterous solid angle for evaluating the dexterity of robot is introduced and the distal end dexterity is compared for the three-section continuum robot with different range of variables. Results imply that the wider range of variables achieve the better dexterity. Finally, the static model of robot based on the principle of virtual work is derived to analyze the relationship between the bending shape deformation and the driven force. The simulations and experiments for plane and spatial motions are conducted to validate the feasibility of model, respectively. Results of this article can contribute to the real-time control and movement and can be a design reference for cable-driven continuum robot.
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Asaro, Peter M. "What Should We Want From a Robot Ethic?" International Review of Information Ethics 6 (December 1, 2006): 9–16. http://dx.doi.org/10.29173/irie134.
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There are at least three things we might mean by “ethics in robotics”: the ethical systems built into robots, the ethics of people who design and use robots, and the ethics of how people treat robots. This paper argues that the best approach to robot ethics is one which addresses all three of these, and to do this it ought to consider robots as socio-technical systems. By so doing, it is possible to think of a continuum of agency that lies between amoral and fully autonomous moral agents. Thus, robots might move gradually along this continuum as they acquire greater capabilities and ethical sophistication. It also argues that many of the issues regarding the distribution of responsibility in complex socio-technical systems might best be addressed by looking to legal theory, rather than moral theory. This is because our overarching interest in robot ethics ought to be the practical one of preventing robots from doing harm, as well as preventing humans from unjustly avoiding responsibility for their actions.
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Yang, Zhixiong, Bin Zhao, Liang Bo, Xiangyang Zhu, and Kai Xu. "CurviPicker: a continuum robot for pick-and-place tasks." Assembly Automation 39, no. 3 (August 5, 2019): 410–21. http://dx.doi.org/10.1108/aa-12-2017-187.
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Purpose Pick-and-place tasks are common across many industrial sectors, and many rigid-linked robots have been proposed for this application. This paper aims to alternatively present the development of a continuum robot for low-load medium-speed pick-and-place tasks. Design/methodology/approach An inversion of a previously proposed dual continuum mechanism, as a key design element, was used to realize the horizontal movements of the CurviPicker’s end effector. A flexible shaft was inserted to realize rotation and translation about a vertical axis. The design concept, kinematics, system descriptions and proof-of-concept experimental characterizations are elaborated. Findings Experimental characterizations show that the CurviPicker can achieve satisfactory accuracy after motion calibration. The CurviPicker is easy to control due to its simple kinematics, while its structural compliance makes it safe to work with, as well as less sensitive to possible target picking position errors to avoid damaging itself or the to-be-picked objects. Research limitations/implications The vertical translation of the CurviPicker is currently realized by moving the flexible shaft. Insertion of the flexible shaft introduces possible disturbances. It is desired to explore other form of variations to use structural deformation to realize the vertical translation. Practical implications The proposed CurviPicker realizes the Schöenflies motions via a simple structure. Such a robot can be used to increase robot presence and automation in small businesses for low-load medium-speed pick-and-place tasks. Originality/value To the best of the authors’ knowledge, the CurviPicker is the first continuum robot designed and constructed for pick-and-place tasks. The originality stems from the concept, kinematics, development and proof-of-concept experimental characterizations of the CurviPicker.
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Niu, Guochen, Yunxiao Zhang, and Wenshuai Li. "Path Planning of Continuum Robot Based on Path Fitting." Journal of Control Science and Engineering 2020 (December 22, 2020): 1–11. http://dx.doi.org/10.1155/2020/8826749.
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The Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection. However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging task. In this paper, a path planning method for Continuum Robot based on an equal curvature model in an aircraft fuel tank environment is proposed. Considering the complexity of calculation and the structural characteristics of Continuum Robot, a feasible obstacle avoidance discrete path is obtained by using the improved RRT algorithm. Then, joint fitting is performed on the existing discrete path according to the kinematic model of Continuum Robot, joint obstacle avoidance was conducted in the process of fitting, and finally, a motion path suitable for the Continuum Robot was selected. A reasonable experiment is designed based on MATLAB, and simulation and analysis results demonstrate excellent performance of this method and feasibility of path planning.
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Till, John, Vincent Aloi, and Caleb Rucker. "Real-time dynamics of soft and continuum robots based on Cosserat rod models." International Journal of Robotics Research 38, no. 6 (April 25, 2019): 723–46. http://dx.doi.org/10.1177/0278364919842269.
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The dynamic equations of many continuum and soft robot designs can be succinctly formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod theory, which includes bending, torsion, shear, and extension. In this work we present a numerical approach for forward dynamics simulation of Cosserat-based robot models in real time. The approach implicitly discretizes the time derivatives in the PDEs and then solves the resulting ordinary differential equation (ODE) boundary value problem (BVP) in arc length at each timestep. We show that this strategy can encompass a wide variety of robot models and numerical schemes in both time and space, with minimal symbolic manipulation required. Computational efficiency is gained owing to the stability of implicit methods at large timesteps, and implementation is relatively simple, which we demonstrate by providing a short MATLAB-coded example. We investigate and quantify the tradeoffs associated with several numerical subroutines, and we validate accuracy compared with dynamic rod data gathered with a high-speed camera system. To demonstrate the method’s application to continuum and soft robots, we derive several Cosserat-based dynamic models for robots using various actuation schemes (extensible rods, tendons, and fluidic chambers) and apply our approach to achieve real-time simulation in each case, with additional experimental validation on a tendon robot. Results show that these models capture several important phenomena, such as stability transitions and the effect of a compressible working fluid.
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Wang, Zili, Ding Weng, Zhaoxin Li, Lei Chen, Yuan Ma, and Jiadao Wang. "A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery." Actuators 12, no. 6 (June 14, 2023): 247. http://dx.doi.org/10.3390/act12060247.
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A magnetic-controlled flexible continuum robot (MFCR) is a kind of continuum robot with small-size and flexibility that deforms under controlled magnetic fields, which makes MFCRs easy to fit in special sizes and designs and provides them with the ability to feasibly arrive at the desired area through certain blood vessel bifurcation. The magnetic drive method is suitable for the miniaturization of soft continuum robots but shows limitations in realizing high flexibility. To achieve miniaturization and high flexibility, in this work, the deformation schemes of a magnetic-controlled flexible continuum robot (MFCR) are proposed, simulated, and experimentally validated. The proposed MFCR includes a soft steering part made of a silicone elastomer with uniformly dispersed NdFeB powder which has a specific magnetization direction. With the actuation of different magnetic fields, the proposed MFCR shows three different deformation modes (C-shape, J-shape, and S-shape) and high flexibility. By using the potential energy model combined with magnetic and elastic potential energy, the quasi-static deformation model of MFCR is built. Through various simulations and experiments, we analyzed and predicted different deformation modes. The results from the experiments demonstrate the accuracy of the deformation model. The results indicate that the MFCR has good control precision and deformation performance with potential applications in robot-assisted minimally invasive surgery.
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Sayahkarajy, Mostafa, Hartmut Witte, and Ahmad Athif Mohd Faudzi. "Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control." Biomimetics 9, no. 4 (March 27, 2024): 199. http://dx.doi.org/10.3390/biomimetics9040199.
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Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot, considering the concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as transesophageal echocardiography (TEE). The feasibility of fabrication of a soft endoscopic device derived from the Chorda dorsalis paragon was shown empirically by producing a three-segment pneumatic SCR. The main novelties include bioinspired design, modeling, and a navigation control strategy presented as a novel algorithm to maintain a kinematic similarity between the soft robot and the rigid counterpart. The kinematic model was derived based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) network was developed and applied to realize kinematic similarity. The simulation results indicate that the control method forces the soft robot tip to follow the path of the rigid probe within the prescribed distance error (5 mm). The solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.
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Samadi Khoshkho, Mohammadamin, Zahra Samadikhoshkho, and Michael G. Lipsett. "Distilled neural state-dependent Riccati equation feedback controller for dynamic control of a cable-driven continuum robot." International Journal of Advanced Robotic Systems 20, no. 3 (May 1, 2023): 172988062311747. http://dx.doi.org/10.1177/17298806231174737.
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This article presents a novel learning-based optimal control approach for dynamic control of continuum robots. Working and interacting with a confined and unstructured environment, nonlinear coupling, and dynamic uncertainty are only some of the difficulties that make developing and implementing a continuum robot controller challenging. Due to the complexity of the control design process, a number of researchers have used simplified kinematics in the controller design. The nonlinear optimal control technique presented here is based on the state-dependent Riccati equation and developed with consideration of the dynamics of the continuum robot. To address the high computational demand of the state-dependent Riccati equation controller, the distilled neural technique is adopted to facilitate the real-time controller implementation. The efficiency of the control scheme with different neural networks is demonstrated using simulation results.
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Borkar, Archit, Shubham Bene, Mahesha Gonal, and B. S. Manohar Shankar. "Impact of materials on performance of Vine Robot." IOP Conference Series: Materials Science and Engineering 1291, no. 1 (September 1, 2023): 012031. http://dx.doi.org/10.1088/1757-899x/1291/1/012031.
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Abstract Vine Robots are soft continuum robots designed with low-cost fabrication and for the navigation of difficult environments. Due to their movement patterns resembling those of natural vines, these robots also known as “everting vine robots” grow by pressure-driven eversion. This paper presents the impact of different materials on the performance of Vine Robot. Three of the most easily accessible materials namely Transparent LDPE (125 Microns), Black LDPE (150 Microns) and Tarpaulin HDPE (250 Microns) were acquired and utilized in fabricating the body of Vine Robot. Under the application of these materials, difference in various properties of the robot were studied. By systematic study, the suitability of one material over the other was determined in specific environmental scenarios.
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Piltan, Farzin, Cheol-Hong Kim, and Jong-Myon Kim. "Adaptive Fuzzy-Based Fault-Tolerant Control of a Continuum Robotic System for Maxillary Sinus Surgery." Applied Sciences 9, no. 12 (June 19, 2019): 2490. http://dx.doi.org/10.3390/app9122490.
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Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi–Sugeno (T–S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T–S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults.
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Meng, Guang Zhu, Guang Ming Yuan, Zhe Liu, and Jun Zhang. "Forward and Inverse Kinematic of Continuum Robot for Search and Rescue." Advanced Materials Research 712-715 (June 2013): 2290–95. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2290.
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Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.
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Chitrakaran, V. K., A. Behal, D. M. Dawson, and I. D. Walker. "Setpoint regulation of continuum robots using a fixed camera." Robotica 25, no. 5 (September 2007): 581–86. http://dx.doi.org/10.1017/s0263574707003475.
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SUMMARYIn this paper, we investigate the problem of measuring the shape of a continuum robot manipulator using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.
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Hu, Hai Yan, Juan Li, Wei Dong Li, Wei Da Li, and Li Ning Sun. "Development of Control System for Colonoscopic Robot." Applied Mechanics and Materials 278-280 (January 2013): 556–60. http://dx.doi.org/10.4028/www.scientific.net/amm.278-280.556.
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The continuum robot features continuously deformable backbone as opposed to traditional serial or parallel robot. It has good potential application in diagnose of gastrointestinal diseases and minimally invasive surgery. Aimed at the advantages of continuum robot, a colonoscopic robot with continuum structure is developed. In order to realize the control of colonoscopic robot, a control system with distributed structure is developed. The personal computer of this control system is constructed as upper level computer and the motion controllers based on DSP or ARM are used as lower level computer. The structure of colonoscopic robot is introduced in this paper. The kinematic base of control system is proposed. The control system, including the overall structure, the hardware and software, are analyzed respectively.
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Yang, Chenghao, Shineng Geng, Ian Walker, David T. Branson, Jinguo Liu, Jian S. Dai, and Rongjie Kang. "Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness." International Journal of Robotics Research 39, no. 14 (April 13, 2020): 1620–34. http://dx.doi.org/10.1177/0278364920913929.
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Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual work-based static model is established to describe the deformation and mechanics of continuum robots with a generic rod-driven structure, taking the geometric constraint of the drive rods into account. Following this, this paper presents a novel variable stiffness mechanism powered by a set of embedded Shape Memory Alloy (SMA) springs, which can make the drive rods become ‘locked’ on the body structure with different configurations. The resulting effects of variable stiffness are then presented in the static model by introducing tensions of the SMA and friction on the rods. Compared with conventional models, there is no need to predefine the actuation forces of the drive rods; instead, actuation displacements are used in this new mechanism system with stiffness being regulated. As a result, the phenomenon that the continuum robot can exhibit an S-shaped curve when subject to single-directional forces is observed and analyzed. Simulations and experiments demonstrated that the presented mechanism has stiffness variation of over 287% and further demonstrated that the mechanism and its model are achievable with good accuracy, such that the ratio of positioning error is less than 2.23% at the robot end-effector to the robot length.
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Kołota, Jakub, and Turhan Can Kargin. "Comparison of Various Reinforcement Learning Environments in the Context of Continuum Robot Control." Applied Sciences 13, no. 16 (August 11, 2023): 9153. http://dx.doi.org/10.3390/app13169153.
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Controlling flexible and continuously structured continuum robots is a challenging task in the field of robotics and control systems. This study explores the use of reinforcement learning (RL) algorithms in controlling a three-section planar continuum robot. The study aims to investigate the impact of various reward functions on the performance of the RL algorithm. The RL algorithm utilized in this study is the Deep Deterministic Policy Gradient (DDPG), which can be applied to both continuous-state and continuous-action problems. The study’s findings reveal that the design of the RL environment, including the selection of reward functions, significantly influences the performance of the RL algorithm. The study provides significant information on the design of RL environments for the control of continuum robots, which may be valuable to researchers and practitioners in the field of robotics and control systems.
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Bouyom Boutchouang, A. H., Achille Melingui, J. J. B. Mvogo Ahanda, Othman Lakhal, Frederic Biya Motto, and Rochdi Merzouki. "Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators." Robotica 39, no. 10 (February 3, 2021): 1760–78. http://dx.doi.org/10.1017/s0263574720001484.
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SUMMARYForward kinematics is essential in robot control. Its resolution remains a challenge for continuum manipulators because of their inherent flexibility. Learning-based approaches allow obtaining accurate models. However, they suffer from the explosion of the learning database that wears down the manipulator during data collection. This paper proposes an approach that combines the model and learning-based approaches. The learning database is derived from analytical equations to prevent the robot from operating for long periods. The database obtained is handled using Deep Neural Networks (DNNs). The Compact Bionic Handling robot serves as an experimental platform. The comparison with existing approaches gives satisfaction.
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Tan, Ning, Peng Yu, Xin Wang, and Kai Huang. "Behavior-predefined adaptive control for heterogeneous continuum robots." International Journal of Robotics Research, June 21, 2024. http://dx.doi.org/10.1177/02783649241259138.
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Continuum robots have great application value and broad prospects in various fields due to their dexterity and compliance. To fully exploit their advantages, it is crucial to develop an effective, accurate and robust control system for them. However, research on continuum robot control is still in its infancy and there are many problems remaining unsolved in this field. In particular, this paper focuses on the task-space behavior and the generic control of heterogeneous continuum robots. First, a controller is proposed to achieve the kinematic motion control and visual servoing of continuum robots with predefined task-space behavior. The predefined behavior is twofold: prescribed task-space error and predefined convergence time. Then, the proposed controller is integrated with a velocity-level kinematic mapping estimator to obtain a model-free control system, which is applicable to heterogeneous continuum robots. Furthermore, a re-adjustable performance function is proposed to ensure the effectiveness and robustness of the proposed control system in the presence of external disturbance. Finally, extensive simulations and experiments are performed based on heterogeneous continuum robots, including the cable-driven continuum robot, the parallel continuum robot, the concentric-tube robot, the flexible endoscope, and the pneumatic continuum robot. Our results demonstrate that the task-space error of heterogeneous continuum robots complies with the prescribed boundaries and converges to steady state in predefined time, which reveals the efficacy of the proposed control method.
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Liu, Yuwang, Wenping Shi, Peng Chen, Liang Cheng, Qing Ding, and Zhaoyan Deng. "Variable Curvature Modeling Method of Soft Continuum Robots with Constraints." Chinese Journal of Mechanical Engineering 36, no. 1 (December 8, 2023). http://dx.doi.org/10.1186/s10033-023-00967-6.
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AbstractThe inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots.