Thus, the waterjet technology can be fully integrated into robotic surgery systems and benefit from their inherent abilities.

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This work presents a novel control approach for a tendondriven soft robotic system. The soft robotic system composed of a silicon continuum, tendons and antagonistic actuation yields a highly complex mechanical model. As the high complexity is not feasible here, a linear time invariant system is approximated instead for the controller design. A fractional order PD α controller is applied to meet performance and the high robustness requirements due to the neglected nonlinear dynamics. Simulation and experimental data confirm a superior performance of the FO controller while exhibiting a higher robustness to model missmatches and better disturbance rejection properties.

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No abstract