Parallel-Continuum Robots: A Survey

Lilge, Sven; Nuelle, Kathrin; Childs, Jake A.; Wen, Kefei; Rucker, D. Caleb; Burgner-Kahrs, Jessica

doi:10.1109/tro.2024.3415230

IEEE Trans. Robot.

2024

DOI: 10.1109/tro.2024.3415230

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Parallel-Continuum Robots: A Survey

Sven Lilge,

Kathrin Nuelle,

Jake A. Childs

et al.

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2024

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Cited by 5 publications

References 105 publications

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Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System

Kuang,

Wang,

Zhao

et al. 2024

IEEE Robot. Autom. Lett.

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Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System

Kuang,

Wang,

Zhao

et al. 2024

IEEE Robot. Autom. Lett.

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Neuroadaptive Control of a Continuum Robot for Finger Rehabilitation

Akgun,

Kaplanoglu,

Erdemir

2024

Actuators

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This study has designed an easy-to-wear parallel continuum robot-based hand rehabilitation system that supports and enhances the finger’s flexion, extension, abduction, and adduction movements. The primary novelty of the proposed system lies in its ability to focus therapeutic exercises on a single joint, a feature not commonly found in existing rehabilitation robots. A kinematic model of the system was developed, and to perform both kinematic and dynamic analyses, a multibody model was constructed in the MATLAB Simulink environment. Joint angle control was implemented using a nominal controller, and to account for individual uncertainties in joint dynamics, a neuroadaptive controller was integrated with the nominal controller. This approach aims for the neural network architecture to learn these uncertainties during control iterations and incorporate them into the control, resulting in a robust controller. Thus, a model reference control approach was proposed for active and passive rehabilitation processes. The system model was tested in a simulation environment, and then all tests were repeated in the physical system. The simulation and real system results include the real system’s open-loop responses, nominal controller responses for each joint, responses, and the results for active, passive, and assistive control modes.

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Study on Trajectory Optimization for a Flexible Parallel Robot in Tomato Packaging

Guo,

Li,

Zhang

et al. 2024

Agriculture

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Currently, flexible robots, exemplified by parallel robots, play a crucial role in the automated packaging of agricultural products due to their rapid, accurate, and stable characteristics. This research systematically explores trajectory planning strategies for parallel robots in the high-speed tomato-grabbing process. Kinematic analysis of the parallel robot was conducted using geometric methods, deriving the coordinates of each joint at various postures, resulting in a kinematic forward solution model and corresponding equations, which were verified with data. To address the drawbacks of the point-to-point “portal” trajectory in tomato grabbing, a 3-5-5-3 polynomial interpolation method in joint space was proposed to optimize the path, enhancing trajectory smoothness. To improve the efficiency of the tomato packaging process, a hybrid algorithm combining particle swarm optimization (PSO) and genetic algorithms (GA) was developed to optimize the operation time of the parallel robot. Compared to traditional PSO, the proposed algorithm exhibits better global convergence and is less likely to fall into local optima, thereby ensuring a smoother and more efficient path in the robot-grabbing tomato process and providing technical support for automated tomato packaging.

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Parallel-Continuum Robots: A Survey

Cited by 5 publications

References 105 publications

Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System

Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System

Neuroadaptive Control of a Continuum Robot for Finger Rehabilitation

Study on Trajectory Optimization for a Flexible Parallel Robot in Tomato Packaging

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