Achieving Haptic Perception in Forceps’ Manipulator Using Pneumatic Artificial Muscle

Li, Hongbing; Kawashima, Kenji; Tadano, Kin‐ichi; Ganguly, Shameek; Nakano, Seiji

doi:10.1109/tmech.2011.2163415

Cited by 91 publications

(38 citation statements)

References 19 publications

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“…Tendon-driven systems are widely used for a power transmission in various mechanical and robotic systems [42]- [45]. In this study, the tendon-driven system converted the angular displacement of the motors into the linear displacement of the hooks with a spool.…”

Section: B Needle Driving Unitmentioning

confidence: 99%

Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Moon

Seo

Choi

2015

IEEE/ASME Trans. Mechatron.

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This paper presents a novel end-effector designed for a teleoperation type robotic system to perform automated sampling for needle biopsies. The objectives of the robotic system are to realize teleoperation control of the pose and position of the biopsy instrument to reduce X-ray exposure and enhance the precision and accuracy of the procedure as well as to automate the sequence of multiple samplings during the biopsy. In order to realize the desired functions, the end-effector comprises three modules: the needle cartridge, needle positioning mechanism, and needle driving unit. The detachable needle cartridge contains six needle sets: one guide needle and five sampling needles. It rotates itself to change needles and rotates the needle body to adjust the facing angle of the needle tip. The needle positioning mechanism is spherical with two degrees of freedom and is a modification of the typical hemisphere type. The needle driving unit controls the needle grab/release and insertion/retreat motions. A concept design and prototype were developed with an experimental master-salve system for the teleoperation. The experimental results successfully demonstrated the feasibility of the robotic biopsy procedure.

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Section: B Needle Driving Unitmentioning

confidence: 99%

Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Moon

Seo

Choi

2015

IEEE/ASME Trans. Mechatron.

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show abstract

“…Between the pneumatic actuators, the soft actuators present different advantages, due to very high force/weight ratio and low friction [6]. For all these reasons, among the pneumatic actuators, the McKibben pneumatic artificial muscle has been employed in several haptic devices, manipulators, and gloves [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Use of McKibben Muscle in a Haptic Interface

et al. 2019

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One of the most relevant issues in the development of a haptic interface is the choice of the actuators that are devoted to generating the reflection forces. This work has been particularly focused on the employment of the McKibben muscle to this aim. A prototype of one finger has been realized that is intended to be part of a haptic glove, and is based on an articulated mechanism driven by a McKibben muscle. A dynamic model of the finger has been created and validated; then, it has been used to define the control algorithm of the device. Experimental tests highlighted the static and dynamic effectiveness of the device and proved that a McKibben muscle can be appropriately used in such an application.

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“…Owing to its particular structure and materials, PAM has several unique advantages compared to hydraulic and electric actuators, for instance, high power-toweight ratio, compact size, inherent compliance, as well as low cost [3] and [4]. Therefore, PAMs are increasingly used in industrial applications [5] to [7], bionic robots [8] to [10], surgical instruments [11], rehabilitation devices [12] to [14], and so forth.…”

Section: Introductionmentioning

confidence: 99%

Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model

Liu

Zang

Lin

et al. 2017

SV-JME

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Pneumatic artificial muscles have been widely used in various fields owing to their inherent compliance and high power-to-weight ratio. However, the natural hysteresis nonlinearity including length/pressure hysteresis and force/pressure hysteresis degrades their performance in precise tracking control, making it necessary to build a mathematical hysteresis model for hysteresis compensation. This paper deals with the modelling of length/pressure hysteresis of pneumatic artificial muscles. The length/pressure hysteresis loops measured by the isotonic test are found to be asymmetric and independent of the external load when the load is small. Considering that the classical Prandtl-Ishlinskii model is only effective for symmetric hysteresis, a modified Prandtl-Ishlinskii model is proposed to describe the length/pressure hysteresis behaviour. The developed model utilizes two asymmetric operators with simple mathematical forms to independently model the ascending branch and descending branch of hysteresis loops. The model parameters are identified using the recursive least square algorithm. Comparisons between simulation results and experimental measurements demonstrate that the proposed model can characterize the asymmetric major hysteresis loop and minor hysteresis loops with high accuracy. Keywords: asymmetric hysteresis, length/pressure hysteresis, modified Prandtl-Ishlinskii model, pneumatic artificial muscles, recursive least square algorithm Highlights • The length/pressure hysteresis of a single pneumatic artificial muscle is found to be asymmetric and independent of small external load through experimental measurements. • This paper proposes a modified Prandtl-Ishlinskii model composing of two independent asymmetric play operators to characterize the length/pressure hysteresis of the pneumatic artificial muscle. • The parameters of the modified Prandtl-Ishlinskii model is identified quite conveniently using the recursive least mean algorithm. • The proposed model has high accuracy in describing the major hysteresis loop and minor hysteresis loops.

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Achieving Haptic Perception in Forceps’ Manipulator Using Pneumatic Artificial Muscle

Cited by 91 publications

References 19 publications

Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Use of McKibben Muscle in a Haptic Interface

Modelling Length/Pressure Hysteresis of a Pneumatic Artificial Muscle using a Modified Prandtl-Ishlinskii Model

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