In this section
Soft and flexible robotic systems for affordable healthcare.
Our research investigates fundamental aspects of control of soft and flexible robots for surgery. These include harnessing the intrinsic compliance of soft robots, rejecting disturbances that characterise the surgical environment, and complying with stringent safety requirements. Our ambition is to provide affordable robotic solutions for a range of surgical applications, including endoscopy, percutaneous intervention, and multi-handed surgery.
Robotics for healthcare is one of the fastest growing segments in the global robotics market. However, conventional surgical robots are unaffordable in low-resource settings. Harnessing the potential of soft and flexible robots can contribute to making surgery safter, more accurate, and more accessible in low-middle income countries. These are pressing needs due to the aging population, and to the growing workforce crisis in the healthcare market.
Our work aims to improve accuracy, reduce the risk of injury, and reduce discomfort in percutaneous interventions such as biopsy, in diagnostic and interventional endoscopy, and in multi-handed surgery.
Dr Enrico Franco
Lecturer
@inproceedings{Franco:2018:10.1109/MED.2018.8442979,
author = {Franco, E},
doi = {10.1109/MED.2018.8442979},
publisher = {IEEE},
title = {Discrete-time IDA-PBC for underactuated mechanical systems with input-delay and matched disturbances},
url = {http://dx.doi.org/10.1109/MED.2018.8442979},
year = {2018}
}
TY - CPAPER
AB - This work investigates the control problem of discrete-time underactuated mechanical systems with fixed input-delay and matched disturbances. A new control strategy is proposed, which builds upon a discrete-time implementation of the interconnection-and-damping-assignment passivity-based control (IDA-PBC) and extends it in two ways: the disturbances are estimated adaptively; the input-delay is compensated with a recursive algorithm. The resulting control law is constructed from IDA-PBC without solving any additional partial-differential-equation (PDE). Stability conditions are discussed and compared to alternative designs. Numerical simulations for the ball-on-beam system and for the Acrobot system demonstrate the effectiveness of the proposed approach.
AU - Franco,E
DO - 10.1109/MED.2018.8442979
PB - IEEE
PY - 2018///
SN - 2473-3504
TI - Discrete-time IDA-PBC for underactuated mechanical systems with input-delay and matched disturbances
UR - http://dx.doi.org/10.1109/MED.2018.8442979
UR - http://hdl.handle.net/10044/1/63197
ER -
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