Stiffness Control of Surgical Continuum Manipulators.

Stiffness Control of Surgical Continuum Manipulators - IEEE Xplore

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 ...

Stiffness Control of Surgical Continuum Manipulators - PMC - NCBI

The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the ...

Stiffness Control of Surgical Continuum Manipulators - ResearchGate

Stiffness control of a continuum robot can prevent excessive contact forces during robot navigation inside delicate, uncertain and confined ...

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 ...

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 Surgical Continuum Manipulators - IEEE Xplore

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

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

The Cosserat rod theory is used for the kinestatic model to calculate the tip stiffness of the manipulator. A stiffness control formulation utilizes the ...

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

... surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages …

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

Stiffness control of surgical continuum manipulators. IEEE Trans Robot. 2011;27(2):334–345. Crossref Google Scholar. 39. Liang X, He G, Su T ...

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.

Stiffness Control for Soft Surgical Manipulators

Tunable stiffness control is critical for undertaking surgical procedures using soft manipulators. However, active stiffness control in soft continuum ...

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 - University of Surrey

Abstract. Soft robots; Stiffness control; Force control; Soft pneumatic manipulator; Medical robots; Flexible continuum robot.

Stiffness control of a continuum manipulator in contact with a soft ...

Fig. 1. Schematics of two types of continuum robots. (a) concentric-tube robot, (b) tendon-driven robot with flexible backbone. - "Stiffness control of a ...

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

catheters, such a robot cannot generate the forces required for doing many surgical manipulation tasks such as tissue penetration and suturing. An alternate ...

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

... surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages of ...

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

The Cosserat rod theory is used for the kinestatic model to calculate the tip stiffness of the manipulator. A stiffness control formulation utilizes the ...

Stiffness Control of Parallel Continuum Robots | DSCC

Parallel continuum robots can provide compact, compliant manipulation of tools in robotic surgery and larger-scale human robot interaction.

Versatile Continuum Robots with Variable Stiffness Control for ...

This versatile continuum robot design offers stiffness control continuously along the length of a guidewire structure or at variable discrete locations.

Stiffness Control for Soft Surgical Manipulators - Semantic Scholar

The manipulability and characteristics of a class of soft hyper-redundant manipulator, fabricated using Ecoflex-0050[Formula: see text] silicone, ...