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{Runciman:2023:10.1109/ICRA48891.2023.10161573,
author = {Runciman, M and Franco, E and Avery, J and Rodriguez, y Baena F and Mylonas, G},
doi = {10.1109/ICRA48891.2023.10161573},
pages = {1--7},
publisher = {IEEE},
title = {Model based position control of soft hydraulic actuators},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10161573},
year = {2023}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
AU  - Runciman,M
AU  - Franco,E
AU  - Avery,J
AU  - Rodriguez,y Baena F
AU  - Mylonas,G
DO  - 10.1109/ICRA48891.2023.10161573
EP  - 7
PB  - IEEE
PY  - 2023///
SP  - 1
TI  - Model based position control of soft hydraulic actuators
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10161573
UR  - https://ieeexplore.ieee.org/abstract/document/10161573
UR  - http://hdl.handle.net/10044/1/104013
ER  -