Estimating Loads Along Elastic Rods

Aloi, Vincent A.; Rucker, D. Caleb

doi:10.1109/icra.2019.8794301

Cited by 34 publications

(21 citation statements)

References 23 publications

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“…The principle is to create a system- like model that predicts deformations from desired external forces, and to make them converge by reducing errors between the predicted and the measured shapes. The model-based methods are usually based on the Cosserat theory [19], [10], or on simpler piece-wise constant curvature models [18] among others. However, these approaches are often slow because of model integration and challenging iterative optimization process.…”

Section: Introductionmentioning

confidence: 99%

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3D Curvature-Based Tip Load Estimation for Continuum Robots

Diezinger

Tamadazte²,

Laurent

2022

IEEE Robot. Autom. Lett.

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Section: Introductionmentioning

confidence: 99%

“…However, these approaches are often slow because of model integration and challenging iterative optimization process. They also have some difficulties to converge with 3D and large deformations because the inverse problem is often ill-conditioned [19].…”

Section: Introductionmentioning

confidence: 99%

3D Curvature-Based Tip Load Estimation for Continuum Robots

Diezinger

Tamadazte²,

Laurent

2022

IEEE Robot. Autom. Lett.

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“…The method was tested using one, two and three point loads in diverse lateral directions along the cross-sectional plane. The paper focused on the feasibility of the proposed method but had a large computational cost and limited use in real-time applications (Aloi and Rucker, 2019). Heunis et al (Heunis et al, 2019) and Venkiteswaran et al (Venkiteswaran et al, 2019) modelled a continuum manipulator subjected to multiple external loads using a pseudo rigid body (PRB) model.…”

Section: Introductionmentioning

confidence: 99%

FBG-Based Estimation of External Forces Along Flexible Instrument Bodies

Al-Ahmad

Ourak

Vlekken³

et al. 2021

Front. Robot. AI

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A variety of medical treatment and diagnostic procedures rely on flexible instruments such as catheters and endoscopes to navigate through tortuous and soft anatomies like the vasculature. Knowledge of the interaction forces between these flexible instruments and patient anatomy is extremely valuable. This can aid interventionalists in having improved awareness and decision-making abilities, efficient navigation, and increased procedural safety. In many applications, force interactions are inherently distributed. While knowledge of their locations and magnitudes is highly important, retrieving this information from instruments with conventional dimensions is far from trivial. Robust and reliable methods have not yet been found for this purpose. In this work, we present two new approaches to estimate the location, magnitude, and number of external point and distributed forces applied to flexible and elastic instrument bodies. Both methods employ the knowledge of the instrument’s curvature profile. The former is based on piecewise polynomial-based curvature segmentation, whereas the latter on model-based parameter estimation. The proposed methods make use of Cosserat rod theory to model the instrument and provide force estimates at rates over 30 Hz. Experiments on a Nitinol rod embedded with a multi-core fiber, inscribed with fiber Bragg gratings, illustrate the feasibility of the proposed methods with mean force error reaching 7.3% of the maximum applied force, for the point load case. Furthermore, simulations of a rod subjected to two distributed loads with varying magnitudes and locations show a mean force estimation error of 1.6% of the maximum applied force.

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“…Qiao [16] proposed a shape-based method which can detect the point forces (mean error of 15.4%) and locations (mean error of 6.51%). Aloi [17] proposed a shapebased method based on Fourier transformation. This method will estimate the force in a distributed fashion and can detect the force location by observing the "peaks" of the distributed force profile.…”

Section: Introductionmentioning

confidence: 99%

Efficient Force Estimation for Continuum Robot

Xiao,

Chen

2021

Preprint

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External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of robot configurations, which addresses the difficulty of implementing the force sensor feedback on the robot body with strict dimension constraints. In this paper, we use local curvatures measured from fiber Bragg grating sensors (FBGS) to estimate the magnitude and location of single or multiple external contact forces. A simplified mechanics model is derived from Cosserat rod theory to compute continuum robot curvatures. Least-square optimization is utilized to estimate the forces by minimizing errors between computed curvatures and measured curvatures. The results show that the proposed method is able to accurately estimate the contact force magnitude (error: 5.25% -12.87%) and locations (error: 1.02% -2.19%). The calculation speed of the proposed method is validated in MATLAB. The results indicate that our approach is 29.0 -101.6 times faster than the conventional methods. These results indicate that the proposed method is accurate and efficient for contact force estimations.

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Estimating Loads Along Elastic Rods

Cited by 34 publications

References 23 publications

3D Curvature-Based Tip Load Estimation for Continuum Robots

3D Curvature-Based Tip Load Estimation for Continuum Robots

FBG-Based Estimation of External Forces Along Flexible Instrument Bodies

Efficient Force Estimation for Continuum Robot

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