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:2019:10.1109/MED.2019.8798558,
author = {Franco, E},
doi = {10.1109/MED.2019.8798558},
publisher = {IEEE},
title = {Energy-based design of elastic joints for inverted pendulum systems with input saturation},
url = {http://dx.doi.org/10.1109/MED.2019.8798558},
year = {2019}
}
TY - CPAPER
AB - This work investigates the balancing control of underactuated inverted pendulum systems with input saturation. To this end, the design of elastic joints according to potential-energy shaping principles is combined with energy-shaping control. As a result, analytical design guidelines are synthesized and implemented fortwo classical examples: the inertia-wheel pendulum and the Acrobot system.Asimulation study demonstrates the effectiveness of the proposed approach in reducing control effort while preserving transient performance.
AU - Franco,E
DO - 10.1109/MED.2019.8798558
PB - IEEE
PY - 2019///
TI - Energy-based design of elastic joints for inverted pendulum systems with input saturation
UR - http://dx.doi.org/10.1109/MED.2019.8798558
UR - http://hdl.handle.net/10044/1/72014
ER -
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