TY - GEN
T1 - A 3 DOFs Mini Variable Stiffness Soft Pneumatic Actuator
AU - Manfredi, Luigi
AU - Yue, Lei
AU - Cuschieri, Alfred
N1 - Publisher Copyright:
© ACTUATOR 2018 - 16th International Conference and Exhibition on New Actuators and Drive Systems, Conference Proceedings.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2018/6/25
Y1 - 2018/6/25
N2 - Surgical robots for minimal access surgery are used to enhance surgeons' performance by motion scaling and reduction of physiological tremor. The advantages of rigid robots include high precision and fast movements. However, an active control is needed for safe interaction with organs and tissues. By contrast, soft robots are intrinsically safe; however, they have limited precision movements because of their low stiffness. In the present study we describe a mini soft pneumatic cylindrical actuator that can change its stiffness by means of antagonistic tendons. The actuator has 3 degrees of freedom (DOFs), an external diameter of 12 mm, length of 15 mm, weight of 1.5 g, and a maximal activation air pressure below 60 kPa (0.60 atm). We report the design of the i) soft actuator, ii) range of motion data, iii) output force and torque, and iv) its variable stiffness under external load.
AB - Surgical robots for minimal access surgery are used to enhance surgeons' performance by motion scaling and reduction of physiological tremor. The advantages of rigid robots include high precision and fast movements. However, an active control is needed for safe interaction with organs and tissues. By contrast, soft robots are intrinsically safe; however, they have limited precision movements because of their low stiffness. In the present study we describe a mini soft pneumatic cylindrical actuator that can change its stiffness by means of antagonistic tendons. The actuator has 3 degrees of freedom (DOFs), an external diameter of 12 mm, length of 15 mm, weight of 1.5 g, and a maximal activation air pressure below 60 kPa (0.60 atm). We report the design of the i) soft actuator, ii) range of motion data, iii) output force and torque, and iv) its variable stiffness under external load.
KW - Soft Hollow Actuator
KW - Variable Stiffness Actuator
KW - Medical Robots
UR - https://www.actuator.de/home
UR - https://www.vde-verlag.de/proceedings-en/564675031.html
M3 - Conference contribution
AN - SCOPUS:85067094110
T3 - ACTUATOR 2018 - 16th International Conference and Exhibition on New Actuators and Drive Systems, Conference Proceedings
SP - 169
EP - 172
BT - Proceedings of ACTUATOR 2018
A2 - Borgmann, Hubert
PB - VDE Verlag GmbH
T2 - 16th International Conference and Exhibition on New Actuators and Drive Systems, ACTUATOR 2018
Y2 - 25 June 2018 through 27 June 2018
ER -