Surgical robots for minimal access surgery are used to enhance surgeon’s 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. In contrast, soft robots are intrinsically safe, but they have limited precision movements, and require an integral sensory feedback. In the present study we describe a mini soft pneumatic cylindrical actuator (12x15 mm) that can change its stiffness by means of antagonistic tendons. The actuator has 3 degrees of freedom (DOFs) and on-board flexible sensors to measure its movement and to implement position control. We report the design and construction of the i) soft actuator, ii) the stretchable sensory system, iii) closed-loop control, and iv) experimental data on range of motion and the controllable stiffness.
|Title of host publication||Proceedings of ACTUATOR 2018|
|Subtitle of host publication||16th International Conference on New Actuators|
|Number of pages||4|
|Publication status||Published - 25 Jun 2018|
- Soft Hollow Actuator
- Variable Stiffness Actuator
- Medical Robots