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Stiffness Control for Soft Surgical Manipulators

Mustaza, Seri M., Saaj, Chakravarthini M., Comin, Francisco J., Albukhanajer, Wissam A., Mahdi, Duale and Lekakou, Constantina (2018) Stiffness Control for Soft Surgical Manipulators International Journal of Humanoid Robotics, 15 (5), 1850021.

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Abstract

Tunable stiffness control is critical for undertaking surgical procedures using soft manipulators. However, active stiffness control in soft continuum manipulators is very challenging and has been rarely realized for real-time surgical applications. Low stiffness at the tip is much preferred for safe navigation of the robot in restricted spaces inside the human body. On the other hand, high stiffness at the tip is demanded for efficiently operating surgical instruments. In this paper, the manipulability and characteristics of a class of soft hyper-redundant manipulator, fabricated using Ecoflex-0050TM silicone, is discussed and a new methodology is introduced to actively tune the stiffness matrix, in real-time, for disturbance rejection and stiffness control. Experimental results are used to derive a more accurate description of the characteristics of the soft manipulator, capture the varying stiffness effects of the actuated arm and consequently offer a more accurate response using closed loop feedback control in real-time. The novel results presented in this paper advances the state-of-the-art of tunable stiffness control in soft continuum manipulators for real-time applications.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
NameEmailORCID
Mustaza, Seri M.s.mustaza@surrey.ac.uk
Saaj, Chakravarthini M.C.Saaj@surrey.ac.uk
Comin, Francisco J.
Albukhanajer, Wissam A.
Mahdi, Duale
Lekakou, ConstantinaC.Lekakou@surrey.ac.uk
Date : 27 August 2018
DOI : 10.1142/S0219843618500214
Copyright Disclaimer : © World Scientific Publishing Company 2018
Uncontrolled Keywords : Soft robots; Stiffness control; Force control; Soft pneumatic manipulator; Medical robots; Flexible continuum robot
Depositing User : Clive Harris
Date Deposited : 28 Aug 2018 15:04
Last Modified : 28 Aug 2019 02:08
URI: http://epubs.surrey.ac.uk/id/eprint/849136

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