Design, production and integration of a shape sensing robotic sleeve for a hyper-redundant, binary actuated robot

verfasst von
Svenja Tappe, Pinar Boyraz, Helge Korz, Tobias Ortmaier
Abstract

Endoscopes have become a common tool for a variety of examination tasks in areas that are difficult to access. Robotic endoscope systems aim to combine two main requirements for a fast, precise and safe operation: Good path following capabilities as well as high resistance against manipulation forces. In this context, a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. To keep the actuator as simple as possible, no sensors were integrated. In order to close the control loop and capture the current configuration of the shaft in combination with establishing a safe interaction interface between the electromagnetic manipulator and its environment, this paper addresses preliminary design issues and first results for a sensor equipped silicon sheath for the robotic system.

Organisationseinheit(en)
Institut für Mechatronische Systeme
Externe Organisation(en)
Chalmers University of Technology
Typ
Aufsatz in Konferenzband
Seiten
298-303
Anzahl der Seiten
6
Publikationsdatum
30.08.2018
Publikationsstatus
Veröffentlicht
Peer-reviewed
Ja
ASJC Scopus Sachgebiete
Elektrotechnik und Elektronik, Steuerungs- und Systemtechnik, Angewandte Informatik, Software
Elektronische Version(en)
https://doi.org/10.1109/aim.2018.8452710 (Zugang: Geschlossen)