Design Considerations for a Hyper-Redundant Pulleyless Rolling Joint With Elastic Fixtures

Suh, Jungwook; Kim, Ki‐Young; Jeong, Ju-Won; Lee, Jung Ju

doi:10.1109/tmech.2015.2389228

Cited by 67 publications

(39 citation statements)

References 24 publications

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“…The rolling-joint is a bio-inspired type of articulation where two surfaces roll against each other. This type of joint has many advantages over conventional revolute joints such as low friction, symmetric actuation, large force transmission, but one of the drawback is its modeling complexity [10]. As the two surfaces roll against each other, the contact point moves, resulting in a combined rotation and translation motion.…”

Section: A Rolling-joint Modelingmentioning

confidence: 99%

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Berthet-Rayne

Leibrandt

Gras

et al. 2018

IEEE Robot. Autom. Lett.

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The real-time teleoperation or telemanipulation of redundant snake-like robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom and a redundant slave robot, typically with n >> 6 degrees of freedom. This paper introduces a snake-like robot for ear, nose and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities and overall occupied volume.

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Section: A Rolling-joint Modelingmentioning

confidence: 99%

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Berthet-Rayne

Leibrandt

Gras

et al. 2018

IEEE Robot. Autom. Lett.

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“…However, this method introduces a singularity when the two joints are parallel to each other, as this intersection does not exist anymore. Another approach using Thales intercept theorem derived similarly to the model presented in [23] is shown below:…”

Section: Robot Modelingmentioning

confidence: 99%

“…The rolling-joint study presented in [23] showed that the tendon variation could be made symmetric if h = 0 resulting in the center of the circle of the rolling-joint being coincident with the center of the base of the joint. However, according to the same study, setting h = 0 does not guarantee smooth bending without buckling in the case of multiple planar rolling-joints arranged in series [23]. Nonetheless, the design proposed in this paper introduces a different architecture and rolling-joint arrangement where each joint is actuated by individual tendons, hence avoiding the risk of buckling.…”

Section: Robot Modelingmentioning

confidence: 99%

“…The rolling-joint has been used as snake-like manipulator [14], compliant mechanism [20], robot fingers [21] and surgical graspers [22]. Suh et al presented a thorough study of the rolling-joint characteristics applied to planar and compliant continuum robot design [23]. The focus of this paper is to optimize the design of the rolling-joint for 3D motion, and to build a redundant snake-like robot for minimally invasive surgery as shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

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Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Berthet-Rayne

Leibrandt

Kim

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial rolling-joints and tendons as the base architecture. The method optimizes the design in terms of joint angle range and tendon placement to prevent the tendons and joints from colliding during bending motion. The resulting optimized joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9 mm and manipulation forces of up to 5.6 N.

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“…Another approach utilizes a cable transmission system where the actuators are located away from the manipulator structure. Such mechanisms utilize a compliant core [52][53][54] to distribute equal angular rotation or specially designed rolling contact joints 55 to maintain equal antagonistic cable displacements that enable the connection of two active cables to one pulley; therefore requiring one actuator and further reducing weight and control complexity of the overall robotic system. The merits of cable driven serpentine-like mechanisms have widely been used in applications such as robotic hand/finger designs 56,57 that utilize friction pulleys 58 , higher order rolling pairs 59 , and spring-loaded joints 60 to regulate angle distribution.…”

Section: Design Candidatesmentioning

confidence: 99%

Discrete modular serpentine robotic tail: design, analysis and experimentation

Saab¹,

Rone²,

Ben-Tzvi³

2018

Robotica

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SUMMARYThis paper presents the design, analysis and experimentation of a Discrete Modular Serpentine Tail (DMST). The mechanism is envisioned for use as a robotic tail integrated onto mobile legged robots to provide a means, separate from the legs, to aid stabilization and maneuvering for both static and dynamic applications. The DMST is a modular two-degree-of-freedom (DOF) articulated, under-actuated mechanism, inspired by continuum and serpentine robotic structures. It is constructed from rigid links with cylindrical contoured grooves that act as pulleys to route and maintain equal displacements in antagonistic cable pairs that are connected to a multi-diameter pulley. Spatial tail curvatures are produced by adding a roll-DOF to rotate the bending plane of the planar tail curvatures. Kinematic and dynamic models of the cable-driven mechanism are developed to analyze the impact of trajectory and design parameters on the loading profiles transferred through the tail base. Experiments using a prototype are performed to validate the forward kinematic and dynamic models, determine the mechanism's accuracy and repeatability, and measure the mechanism's ability to generate inertial loading.

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Design Considerations for a Hyper-Redundant Pulleyless Rolling Joint With Elastic Fixtures

Cited by 67 publications

References 24 publications

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Discrete modular serpentine robotic tail: design, analysis and experimentation

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