A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation

Ren, Hongliang; Gu, Xiaoyi

doi:10.34133/cbsystems.0007

Cited by 19 publications

(6 citation statements)

References 161 publications

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“…In terms of ensuring the reproducibility of CRs as a system, we firmly believe that, in conjunction with [68], our work will provide a robust foundation. [65,76,77], (c) actuation [78][79][80][81], (d) applications [63][64][65][66]82,83], (e) medical [58,61,62,67,72,74,[84][85][86][87][88], (f) design/modelling [60,64,68,69,80,81,[89][90][91][92][93][94][95][96][97], (g) control/navigation [64,65,81,86,93,[98][99][100][101][102]…”

Section: Previous Literature Surveys On Crsmentioning

confidence: 99%

“…Figure 5. Distribution of existing literature reviews/surveys in the CR domain under the categories (a) overview [54,55,59,60,64,70-75], (b) vine robots [65,76,77], (c) actuation [78-81], (d) applications [63-66,82,83], (e) medical [58,61,62,67,72,74,84-88], (f) design/modelling [60,64,68,69,80,81,89-97],(g) control/navigation[64,65,81,86,93,[98][99][100][101][102][103], (h) fabrication[68], (i) grasp/grip[104,105], (j) performance evaluation[106], (k) sensing[80,107,108], and (l) stiffness tuning[80,88,[109][110][111][112].…”

mentioning

confidence: 99%

“…Figure 5. Distribution of existing literature reviews/surveys in the CR domain under the categories (a) overview[54,55,59,60,64,[70][71][72][73][74][75], (b) vine robots[65,76,77], (c) actuation[78][79][80][81], (d) applications[63][64][65][66]82,83], (e) medical[58,61,62,67,72,74,[84][85][86][87][88], (f) design/modelling[60,64,68,69,80,81,[89][90][91][92][93][94][95][96][97], (g) control/navigation…”

mentioning

confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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Section: Previous Literature Surveys On Crsmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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show abstract

“…1 . As a result, realizing the stiffness change of a continuum manipulator during MIS is demanding and challenging [ 16 ]. For those continuum manipulators with low inherent stiffness, several implementations based on variable stiffness materials or special mechanical designs have been developed to enhance and control their stiffness [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Duan,

Zhang,

Qian

et al. 2024

Cyborg Bionic Syst

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Continuum manipulators can conform to curvilinear paths and manipulate objects in complex environments, which makes it emerging to be applied in minimally invasive surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages of surgery to achieve safe access or stable and precise operation. This work proposes an operating stiffness controller (OSC) for the typical tendon-driven continuum manipulator based on the variable impedance control method with Lagrangian dynamic modeling. This controller can adjust the operating stiffness by modifying the driving forces along the driving tendons of the continuum manipulator without changing its material or structure. The proposed OSC converts the damping and stiffness matrices of the impedance control into variable parameters. This merit allows it to dynamically adjust the operating stiffness of the continuum manipulator according to the desired constant or time-varying stiffness. Furthermore, the OSC stability can be proven based on a Lyapunov function, and its stiffness control performances have been analyzed and evaluated in both simulations and experiments. The OSC controller generated average relevant error values of 7.82% and 3.09% for the operating stiffness control experiments with constant and time-varying desired stiffness, respectively. These experimental results indicate that the OSC has high accuracy, stability, and strong robustness in the operating stiffness control tasks.

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“…With the rapid development of robotics in recent years, robots can replace or assist humans to complete some specific tasks in the fields of industry, medical care, aerospace, and educational services [ 1 ]. Since the structures of the bionic bimanual robots [ 2 – 4 ] are similar to that of the human dual arms and dual hands, they can replace humans to complete more complex tasks. The movement of the bionic bimanual robot requires a high degree of coordination and complex manipulation.…”

Section: Introductionmentioning

confidence: 99%

Dual-Hand Motion Capture by Using Biological Inspiration for Bionic Bimanual Robot Teleoperation

Gao,

Deng,

et al. 2023

Cyborg Bionic Syst

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Bionic bimanual robot teleoperation can transfer the grasping and manipulation skills of human dual hands to the bionic bimanual robots to realize natural and flexible manipulation. The motion capture of dual hands plays an important role in the teleoperation. The motion information of dual hands can be captured through the hand detection, localization, and pose estimation and mapped to the bionic bimanual robots to realize the teleoperation. However, although the motion capture technology has achieved great achievements in recent years, visual dual-hand motion capture is still a great challenge. So, this work proposed a dual-hand detection method and a 3-dimensional (3D) hand pose estimation method based on body and hand biological inspiration to achieve convenient and accurate monocular dual-hand motion capture and bionic bimanual robot teleoperation. First, a dual-hand detection method based on body structure constraints is proposed, which uses a parallel structure to combine hand and body relationship features. Second, a 3D hand pose estimation method with bone-constraint loss from single RGB images is proposed. Then, a bionic bimanual robot teleoperation method is designed by using the proposed hand detection and pose estimation methods. Experiment results on public hand datasets show that the performances of the proposed hand detection and 3D hand pose estimation outperform state-of-the-art methods. Experiment results on a bionic bimanual robot teleoperation platform shows the effectiveness of the proposed teleoperation method.

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A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation

Cited by 19 publications

References 161 publications

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Dual-Hand Motion Capture by Using Biological Inspiration for Bionic Bimanual Robot Teleoperation

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