A compliant surgical robotic instrument with integrated IPMC sensing and actuation
نویسندگان
چکیده
منابع مشابه
Environmental-Interaction Robotic Systems: Compliant Actuation Approach
Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using veloc...
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In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff actuated robot that is controlled kinematically, while the second, StarlETH, uses a soft actuation scheme based on highly compliant series elast...
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This chapter discusses the advantages and feasibility of using compliant actuators in exoskeletons. We designed compliant actuation for use in a gait rehabilitation robot. In such a gait rehabilitation robot large forces are required to support the patient. In case of poststroke patients only the affected leg has to be supported while the movement of the unaffected leg should not be hindered. N...
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Purpose Magnetic coupling is one of the few strategies to transmit motion through physical obstacles. This approach can be applied to remotely control and manipulate medical devices/robots inside the human body preventing the need for dedicated incisions [1, 2]. The most straightforward approach to take advantage of magnetic coupling to control a medical device inside the human body consists in...
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Magnetic coupling is a strategy to transmit actuation forces across a physical barrier. This approach can be applied to remotely control and manipulate robotic instruments in minimally invasive surgery (MIS) [1]. Interrupting the mechanical continuity of such system by having surgical instruments and laparoscopic camera magnetically coupled across the abdominal wall greatly enhances both the wo...
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ژورنال
عنوان ژورنال: International Journal of Smart and Nano Materials
سال: 2012
ISSN: 1947-5411,1947-542X
DOI: 10.1080/19475411.2011.650231