Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E Dupont
{"title":"Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions.","authors":"Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E Dupont","doi":"10.1109/iros55552.2023.10341686","DOIUrl":null,"url":null,"abstract":"<p><p>A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kinematic modeling of the hybrid design and provides a description of the dexterous workspace. We present experimental validation which shows that a simplified kinematic model produces tip position mean and maximum errors of 3% and 7% of total robot length, respectively.</p>","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"8461-8466"},"PeriodicalIF":0.0000,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10862390/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/iros55552.2023.10341686","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2023/12/13 0:00:00","PubModel":"Epub","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kinematic modeling of the hybrid design and provides a description of the dexterous workspace. We present experimental validation which shows that a simplified kinematic model produces tip position mean and maximum errors of 3% and 7% of total robot length, respectively.
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