In this section

Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@inproceedings{Franco:2020:10.1109/CDC40024.2019.9029449,
author = {Franco, E and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1109/CDC40024.2019.9029449},
pages = {1019--1024},
publisher = {IEEE},
title = {Model based adaptive control for a soft robotic manipulator},
url = {http://dx.doi.org/10.1109/CDC40024.2019.9029449},
year = {2020}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - The  application  of  model  based  adaptive  control to  an  underactuated  system  representative  of  a  class  of  soft continuummanipulators  is  investigated.  To  this  end,  a  rigid-linkmodel   with   elastic   joints  is   employed   and   an   energy shaping controller is designed. Additionally, model uncertainties  and  external  disturbances, both matched  and unmatched,  are compensated  with an  adaptive  algorithm. This results  in  a  control  law  that  only  depends  on  the  orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are  discussed  and  the  effectiveness  of  the  controller  is  verified via simulations.
AU  - Franco,E
AU  - Garriga,Casanovas A
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1109/CDC40024.2019.9029449
EP  - 1024
PB  - IEEE
PY  - 2020///
SP  - 1019
TI  - Model based adaptive control for a soft robotic manipulator
UR  - http://dx.doi.org/10.1109/CDC40024.2019.9029449
UR  - https://ieeexplore.ieee.org/document/9029449
UR  - http://hdl.handle.net/10044/1/75757
ER  -