Stiffness Control for Soft Surgical Manipulators

Seri Mastura Mustaza, Chakravarthini M. Saaj, Francisco J. Comin, Wissam A. Albukhanajer, Duale Mahdi, Constantina Lekakou

Research output: Contribution to journalArticle

1 Citation (Scopus)

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.

Original languageEnglish
Article number1850021
JournalInternational Journal of Humanoid Robotics
Volume15
Issue number5
DOIs
Publication statusPublished - 1 Oct 2018
Externally publishedYes

Fingerprint

Manipulators
Stiffness
Redundant manipulators
Disturbance rejection
Stiffness matrix
Silicones
Feedback control
Navigation
Robots

Keywords

  • flexible continuum robot
  • force control
  • medical robots
  • soft pneumatic manipulator
  • Soft robots
  • stiffness control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence

Cite this

Mustaza, S. M., Saaj, C. M., Comin, F. J., Albukhanajer, W. A., Mahdi, D., & Lekakou, C. (2018). Stiffness Control for Soft Surgical Manipulators. International Journal of Humanoid Robotics, 15(5), [1850021]. https://doi.org/10.1142/S0219843618500214

Stiffness Control for Soft Surgical Manipulators. / Mustaza, Seri Mastura; Saaj, Chakravarthini M.; Comin, Francisco J.; Albukhanajer, Wissam A.; Mahdi, Duale; Lekakou, Constantina.

In: International Journal of Humanoid Robotics, Vol. 15, No. 5, 1850021, 01.10.2018.

Research output: Contribution to journalArticle

Mustaza, SM, Saaj, CM, Comin, FJ, Albukhanajer, WA, Mahdi, D & Lekakou, C 2018, 'Stiffness Control for Soft Surgical Manipulators', International Journal of Humanoid Robotics, vol. 15, no. 5, 1850021. https://doi.org/10.1142/S0219843618500214
Mustaza, Seri Mastura ; Saaj, Chakravarthini M. ; Comin, Francisco J. ; Albukhanajer, Wissam A. ; Mahdi, Duale ; Lekakou, Constantina. / Stiffness Control for Soft Surgical Manipulators. In: International Journal of Humanoid Robotics. 2018 ; Vol. 15, No. 5.
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