An Operating Stiffness Controller for the Medical Continuum Robot ...

Cyborg and bionic systems (American Association for the ... - SciSpace

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control. [...] Jinyu Duan, Kai Zhang, Kun Qian, Jianxiong Hao, Zhiqiang ...

Stiffness Control of Parallel Continuum Robots | DSCC

We use a model formulation that estimates the applied end-effector force and pose using actuator force measurements. An integral control ...

Magnetic Continuum Device with Variable Stiffness for Minimally ...

... Control of Magnetically Guided Continuum ... continuum robots, magnetic navigation, medical robotics, soft robotics, variable stiffness system.

Advanced Fabrication and Control of Multi-Modal Soft Continuum ...

Soft-bodied continuum robots (SCRs) offer a valuable alternative to traditional rigid-link robotic systems due to their ability to operate with enhanced ...

A continuum manipulator for continuously variable stiffness and ... - Rii

The design concepts, system construction, kinestatic models, stiffness control formulation and experimental validations are presented. The experimental results.

Through the Keyhole – Advances in Continuum Robots for Surgery

Professor Jessica Burgner-Kahrs (University of Toronto Mississauga) gives her talk: Through the Keyhole – Advances in Continuum Robots for ...

Compliant Motion Control for Multisegment Continuum Robots With ...

Active compliance has been evaluated under limited condi- tions for continuum robots. Mahvash and Dupont [23] presented an active stiffness controller that may ...

Stiffness Control of Surgical Continuum Manipulators

This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot's ...

Stiffness Control of Soft Robotic Manipulator for Minimally Invasive ...

Continuum and soft robotics showed many applications in medicine from surgery to health care where their compliant nature is advantageous in minimal ...

Stiffness Modulator: A Novel Actuator for Human Augmentation

Stiffness modulators are devices that promote a novel means of actuation; they provide stiffness modulation without deliberately doing ...

Compliant Insertion, Motion, and Force Control of Continuum Robots

At the tip, force sensors are integrated into an algorithm that yields force, shape, and stiffness estimation, ultimately creating a proprioception proxy ...

Controlling Soft Robots in Task Space - YouTube

This is the video presentation of the paper below. We developed a model-based control approach for soft and continuum robots that robustly ...