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Flexible or continuum robot arms have been studied for the past two decades and these robots are recently emerging in many applications such as surgery, rehabilitation, industry, among many others. For safe operation especially in the surgical areas, active compliance controls such as force or impedance controls for the flexible manipulators are required. Due to several restrictions such as small...
With the advent of automation and robotic systems, robotic manipulators are becoming increasingly popular in various industries. This project aims to investigate stiffness varying technology for a class of flexible manipulators with the aim of online changing manipulator stiffness. We propose and develop a stiffness varying mechanism based on Polycaprolactone (PCL), characterize it and test out together...
Flexible manipulators such as tendon-driven serpentine manipulators perform better than traditional rigid ones in minimally invasive surgical tasks, including navigation in confined space through key-hole like incisions. However, due to the inherent nonlinearities and model uncertainties, motion control of such manipulators becomes extremely challenging. In this work, a hybrid framework combining...
With the advancement of minimally invasive surgery, there has been increasing interest from both industry and academia in developing flexible serpentine manipulators for surgical robotic systems. Due to internal friction and external disturbance when interacting with complex environment, position and shape of the flexile manipulator cannot be estimated solely by kinematic models. Hence, shape tracking...
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