Tuneable stiffness design of soft continuum manipulator

Seri Mastura Mustaza, Duale Mahdi, Chakravarthini Saaj, Wissam A. Albukhanajer, Constantina Lekakou, Yahya Elsayed, Jan Fras

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

Soft continuum robots are highly deformable and manoeuvrable manipulators, capable of navigating through confined space and interacting safely with their surrounding environment, making them ideal for minimally invasive surgical applications. A crucial requirement of a soft robot is to control its overall stiffness efficiently, in order to execute the necessary surgical task in an unstructured environment. This paper presents a comparative study detailing the stiffness characterization of two soft manipulator designs and the formulation of a dynamic stiffness matrix for the purpose of disturbance rejection and stiffness control for precise tip positioning. An empirical approach is used to accurately describe the stiffness characteristics along the length of the manipulator and the derived stiffness matrix is applied in real-time control to reject disturbances. Further, the capability of the two types of soft robots to reject disturbances using the dynamic control technique is tested and compared. The results presented in this paper provide new insights into controlling the stiffness of soft continuum robots for minimally invasive surgical applications.

Original languageEnglish
Pages (from-to)152-163
Number of pages12
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9246
DOIs
Publication statusPublished - 2015
Externally publishedYes

Fingerprint

Manipulator
Manipulators
Stiffness
Continuum
Robot
Robots
Stiffness matrix
Stiffness Matrix
Disturbance
Disturbance Rejection
Disturbance rejection
Dynamic Control
Real time control
Positioning
Comparative Study
Design
Real-time
Necessary
Formulation
Requirements

Keywords

  • Minimally invasive surgery
  • Robustness
  • Soft continuum robots
  • Stiffness control

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Tuneable stiffness design of soft continuum manipulator. / Mustaza, Seri Mastura; Mahdi, Duale; Saaj, Chakravarthini; Albukhanajer, Wissam A.; Lekakou, Constantina; Elsayed, Yahya; Fras, Jan.

In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 9246, 2015, p. 152-163.

Research output: Contribution to journalArticle

Mustaza, Seri Mastura ; Mahdi, Duale ; Saaj, Chakravarthini ; Albukhanajer, Wissam A. ; Lekakou, Constantina ; Elsayed, Yahya ; Fras, Jan. / Tuneable stiffness design of soft continuum manipulator. In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). 2015 ; Vol. 9246. pp. 152-163.
@article{42304f860d954db9a726338b4c290aed,
title = "Tuneable stiffness design of soft continuum manipulator",
abstract = "Soft continuum robots are highly deformable and manoeuvrable manipulators, capable of navigating through confined space and interacting safely with their surrounding environment, making them ideal for minimally invasive surgical applications. A crucial requirement of a soft robot is to control its overall stiffness efficiently, in order to execute the necessary surgical task in an unstructured environment. This paper presents a comparative study detailing the stiffness characterization of two soft manipulator designs and the formulation of a dynamic stiffness matrix for the purpose of disturbance rejection and stiffness control for precise tip positioning. An empirical approach is used to accurately describe the stiffness characteristics along the length of the manipulator and the derived stiffness matrix is applied in real-time control to reject disturbances. Further, the capability of the two types of soft robots to reject disturbances using the dynamic control technique is tested and compared. The results presented in this paper provide new insights into controlling the stiffness of soft continuum robots for minimally invasive surgical applications.",
keywords = "Minimally invasive surgery, Robustness, Soft continuum robots, Stiffness control",
author = "Mustaza, {Seri Mastura} and Duale Mahdi and Chakravarthini Saaj and Albukhanajer, {Wissam A.} and Constantina Lekakou and Yahya Elsayed and Jan Fras",
year = "2015",
doi = "10.1007/978-3-319-22873-0_14",
language = "English",
volume = "9246",
pages = "152--163",
journal = "Lecture Notes in Computer Science",
issn = "0302-9743",
publisher = "Springer Verlag",

}

TY - JOUR

T1 - Tuneable stiffness design of soft continuum manipulator

AU - Mustaza, Seri Mastura

AU - Mahdi, Duale

AU - Saaj, Chakravarthini

AU - Albukhanajer, Wissam A.

AU - Lekakou, Constantina

AU - Elsayed, Yahya

AU - Fras, Jan

PY - 2015

Y1 - 2015

N2 - Soft continuum robots are highly deformable and manoeuvrable manipulators, capable of navigating through confined space and interacting safely with their surrounding environment, making them ideal for minimally invasive surgical applications. A crucial requirement of a soft robot is to control its overall stiffness efficiently, in order to execute the necessary surgical task in an unstructured environment. This paper presents a comparative study detailing the stiffness characterization of two soft manipulator designs and the formulation of a dynamic stiffness matrix for the purpose of disturbance rejection and stiffness control for precise tip positioning. An empirical approach is used to accurately describe the stiffness characteristics along the length of the manipulator and the derived stiffness matrix is applied in real-time control to reject disturbances. Further, the capability of the two types of soft robots to reject disturbances using the dynamic control technique is tested and compared. The results presented in this paper provide new insights into controlling the stiffness of soft continuum robots for minimally invasive surgical applications.

AB - Soft continuum robots are highly deformable and manoeuvrable manipulators, capable of navigating through confined space and interacting safely with their surrounding environment, making them ideal for minimally invasive surgical applications. A crucial requirement of a soft robot is to control its overall stiffness efficiently, in order to execute the necessary surgical task in an unstructured environment. This paper presents a comparative study detailing the stiffness characterization of two soft manipulator designs and the formulation of a dynamic stiffness matrix for the purpose of disturbance rejection and stiffness control for precise tip positioning. An empirical approach is used to accurately describe the stiffness characteristics along the length of the manipulator and the derived stiffness matrix is applied in real-time control to reject disturbances. Further, the capability of the two types of soft robots to reject disturbances using the dynamic control technique is tested and compared. The results presented in this paper provide new insights into controlling the stiffness of soft continuum robots for minimally invasive surgical applications.

KW - Minimally invasive surgery

KW - Robustness

KW - Soft continuum robots

KW - Stiffness control

UR - http://www.scopus.com/inward/record.url?scp=84984998024&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84984998024&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-22873-0_14

DO - 10.1007/978-3-319-22873-0_14

M3 - Article

VL - 9246

SP - 152

EP - 163

JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

SN - 0302-9743

ER -