Electrohydraulic Transmission System for Minimally Invasive Robotics

Bechet, Francis; Ogawa, Kenji; Sarıyıldız, Emre; Ohnishi, Kouhei

doi:10.1109/tie.2015.2453930

Cited by 28 publications

(11 citation statements)

References 36 publications

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“…Although the flexible actuating technology developed for the soft wearable fields is currently in its infancy, collaborative efforts toward functional materials, actuator devices, and integration approaches will lead to multiple applications for soft wearable robotics. In this section, several typical application scenarios will be introduced, such as medical and rehabilitation robots, designs for actively deformable apparel, and soft HMIs …”

Section: Applications Of Flexible Actuators In Soft Roboticsmentioning

confidence: 99%

“…Minimally invasive surgery (MIS) has become a trend, due to its faster recovery and unnecessary trauma . In surgery procedures, the path to the target may be obstructed by organs or other tissues.…”

Section: Applications Of Flexible Actuators In Soft Roboticsmentioning

confidence: 99%

“…As a result, soft robots that are mainly fabricated with ﬂexible or elastomeric materials have emerged and can easily adjust to environmental changes, accomplish complex tasks, and achieve human–machine compliance . In particular, flexible actuators offer an important actuation capability and open up new possibilities for soft wearable applications, such as acting as intelligent surgical or drug delivery tools, powering limb rehabilitation and assistance, smart designing for actively deformable apparel, and establishing soft human–machine interactions (HMIs) . These devices are undoubtedly an integral part of the broad field of soft robotics .…”

Section: Introductionmentioning

confidence: 99%

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Flexible Actuators for Soft Robotics

Yang

et al. 2019

Advanced Intelligent Systems

105

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Rigid robots have taken on a variety of automated manufacturing tasks and have made a huge contribution to industrial development; however, they are not suitable for further wearable applications due to their rigid and bulky structure, poor environmental adaptability, and low safety. Soft robots, which are mainly fabricated with flexible or elastomeric materials, can easily adjust to environmental changes and accomplish complex tasks, offering a new paradigm to achieve human-machine compliance. Soft robots do not replace rigid robots but add diverse features for softer robotic applications. In particular, the use of flexible actuators in robotic systems can realize certain intelligent functions, enrich soft robotic systems and migrate academic research to engineering applications. Currently, the application of flexible actuators in soft robotic fields is still at the embryonic stage. However, tremendous application spaces can be envisaged when combining flexible actuators with soft wearable robotics. Therefore, the current flexible actuators that rely on different external stimuli are addressed herein, and their materials, designs, and approaches suitable for soft robotic applications are highlighted. The application advancement and future perspective of flexible actuator prototypes toward various soft robotics are also discussed.

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Section: Applications Of Flexible Actuators In Soft Roboticsmentioning

confidence: 99%

Section: Applications Of Flexible Actuators In Soft Roboticsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Flexible Actuators for Soft Robotics

Yang

et al. 2019

Advanced Intelligent Systems

105

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“…The internal and external disturbances of a motion control system are cancelled by feedforwarding the reverse of the disturbance signal [1]. This intuitive robust motion controller design technique has attracted many control engineering practitioners, and the DOb has been applied to various engineering systems (e.g., robots, hard-disk drives, automobiles, satellites and unmanned aerial vehicles) in the last three decades [1,[11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A Guide to Design Disturbance Observer-based Motion Control Systems in Discrete-time Domain

Sarıyıldız

2021

2021 IEEE International Conference on Mechatronics (ICM)

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This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discretetime domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the dynamic behaviours of the DOb-based robust motion controllers implemented by computers and microcontrollers. For example, continuous-time analysis methods cannot explain why the robust stability and performance of the digital motion controller deteriorate as the bandwidth of the DOb increases. Therefore, unexpected dynamic responses (e.g., poor stability and performance, and high-sensitivity to disturbances and noise) may be observed when the parameters of the digital robust motion controller are tuned by using continuous-time synthesis methods in practice. This paper also analytically derives the robust stability and performance constraints of the DOb-based motion controllers in the discrete-time domain. The proposed design constraints allow one to systematically synthesise a high-performance digital robust motion controller. The validity of the proposed analysis and synthesis methods are verified by simulations.

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“…Using the arm, the operator could feel the environment through tactile sensations. Bechet et al proposed a novel electrohydraulic haptic transmission system to improve a surgery robot with a haptic system [10]. Motoi et al developed the remote control method further, using the force feedback generated by collision prediction [11].…”

Section: Introductionmentioning

confidence: 99%

Remote Control Method With Force Assist Based on Time to Collision for Mobile Robot

Masaki

Motoi

2020

IEEE Open J. Ind. Electron. Soc.

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This paper proposes a remote control method with the force assist to improve the operability of a mobile robot. The force feedback is generated on the basis of the time to collision (TTC) and translational velocity. The TTC is calculated from the predicted trajectory and environmental information, and is used as an indicator of the possibility of collision. If the possibility of collision is low, the force assist is not implemented. Therefore, the operator can control the mobile robot with a low manipulation force. On the contrary, if the collision possibility is high, the force assist is implemented. This force assist is classified on the bases of two cases according to the translational velocity. In the case of the low translational velocity, collision avoidance can be achieved via modification of the angular velocity alone. As a result, the proposed method generates a force assist for the angular velocity alone. On the contrary, if the translational velocity is high, it is necessary to modify both the translational and angular velocities to avoid collision. In this case, a force assist is generated for both velocities. Finally, the operability improvement resulting from the proposed method is confirmed experimentally.

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Electrohydraulic Transmission System for Minimally Invasive Robotics

Cited by 28 publications

References 36 publications

Flexible Actuators for Soft Robotics

Flexible Actuators for Soft Robotics

A Guide to Design Disturbance Observer-based Motion Control Systems in Discrete-time Domain

Remote Control Method With Force Assist Based on Time to Collision for Mobile Robot

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