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

This work proposes an operating stiffness controller (OSC) for the typical tendon-driven continuum manipulator based on the variable impedance control method.

When the continuum manipulator is in an upward-bending configuration, these two moments add up, resulting in lower operating stiffness.

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

robustness in the operating stiffness control tasks. 44. 45. Keywords: Continuous stiffness adjustment, variable impedance control, continuum.

[PDF] An Operating Stiffness Controller for the Medical Continuum ...

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control · Jinyu Duan, Kai Zhang, +3 authors. Chaoyang Shi · Published in ...

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

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

[PDF] Stiffness Control of Surgical Continuum Manipulators ...

of a continuum robot's coupled kinematic and static force ... An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control.

The working principle and implementation of the proposed stiffness...

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control. Article. Full-text available. May 2024. Jinyu Duan · Kai Zhang ...

Stiffness Control of Surgical Continuum Manipulators. - Europe PMC

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

Review An overview of stiffening approaches for continuum robots

Among them, a standing one is how to adjust or control the stiffness to meet different task requirements [3], [4], [5], [6], [7]. For example, in a minimally ...

Stiffness Control for Soft Surgical Manipulators

Keywords: Soft robots · stiffness control · force control · soft pneumatic manipulator · medical robots · flexible continuum robot.

A continuum manipulator for continuously variable stiffness and its ...

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control. Article. Full-text available. May 2024. Jinyu Duan · Kai Zhang ...

Stiffness Control of a Continuum Manipulator in Contact with a Soft ...

Historically, the study of robot-environment interaction has focused on industrial robots interacting with stiff en- vironments in assembly operations and other ...

Stiffness Control of Surgical Continuum Manipulators - Harvard DASH

Concentric tube robot; continuum robot; Cosserat rod; kinematics; stiffness control ... His research interests include medical robotics, physics- ...

Variable stiffness methods of flexible robots for minimally invasive ...

[29] designed an intestine endoscope like continuum robot with fiber-reinforced rubber tubes inside, as shown in Fig. 4(d). As air is pumped in, the pressure of ...

Magnetic steering continuum robot for transluminal procedures with ...

... medical treatment through less invasive operations ... Shape memory polymer variable stiffness magnetic catheters with hybrid stiffness control.

Dynamic Manipulation and Stiffness Modulation of Cooperative ...

Abstract. Cooperative continuum robots (CCRs) are composed of multiple coupled continuum arms to cooperatively conduct manipulation tasks. They can highly.

Continuum Robots: An Overview - Russo - 2023 - Wiley Online Library

... control strategies for medical, industrial, and service applications. ... 1, another critical specification of a continuum robot is its stiffness ...

A Variable Stiffness Soft Continuum Robot Based on Pre-charged ...

Soft continuum robots have many applications such as medical ... A prototype robot has been fabricated to demonstrate grasping operations.

Stiffness-Tuneable Segment for Continuum Soft Robots with Vertebrae

Experimental tests were performed to evaluate the robot's shape control and stiffness ... Continuum robots for medical applications: A survey. IEEE Trans. Robot.

Novel Concentric Magnetic Continuum Robot with Multiple Stiffness ...

... operation, reduced risks, and larger attainable workspace. Keywords: magnetic control; continuum robot; stiffness control; drug delivery. 1 ...