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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:2023:10.1109/ICRA48891.2023.10160743,
author = {Franco, E and Aktas, A and Treratanakulchai, S and Garriga, Casanovas A and Donder, A and Rodriguez, y Baena F},
doi = {10.1109/ICRA48891.2023.10160743},
pages = {567--572},
publisher = {IEEE},
title = {Discrete-time model based control of soft manipulator with FBG sensing},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10160743},
year = {2023}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings.A control algorithm is designed with a discrete-time energyshaping approach which is extended to account for control-related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation.
AU  - Franco,E
AU  - Aktas,A
AU  - Treratanakulchai,S
AU  - Garriga,Casanovas A
AU  - Donder,A
AU  - Rodriguez,y Baena F
DO  - 10.1109/ICRA48891.2023.10160743
EP  - 572
PB  - IEEE
PY  - 2023///
SP  - 567
TI  - Discrete-time model based control of soft manipulator with FBG sensing
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10160743
UR  - https://ieeexplore.ieee.org/abstract/document/10160743
UR  - http://hdl.handle.net/10044/1/103249
ER  -