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
@article{Franco:2019:10.1002/acs.2947,
author = {Franco, E},
doi = {10.1002/acs.2947},
journal = {International Journal of Adaptive Control and Signal Processing},
pages = {1--15},
title = {Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances},
url = {http://dx.doi.org/10.1002/acs.2947},
volume = {33},
year = {2019}
}
TY - JOUR
AB - This work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnectionanddampingassignment passivitybased control, augmenting it with an additional term for the purpose of disturbance compensation. In particular, the disturbances are estimated adaptively and then accounted for in the control law employing a new matching condition of algebraic nature. Stability conditions are discussed, and for comparison purposes, an alternative controller based on partial feedback linearization is presented. The effectiveness of the proposed approach is demonstrated with numerical simulations for three motivating examples: the inertia wheel pendulum, the diskondisk system, and the pendulumoncart system.
AU - Franco,E
DO - 10.1002/acs.2947
EP - 15
PY - 2019///
SN - 0890-6327
SP - 1
TI - Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
T2 - International Journal of Adaptive Control and Signal Processing
UR - http://dx.doi.org/10.1002/acs.2947
UR - http://hdl.handle.net/10044/1/65077
VL - 33
ER -
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