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:2020:10.1109/CDC40024.2019.9029449,
author = {Franco, E and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1109/CDC40024.2019.9029449},
pages = {1019--1024},
publisher = {IEEE},
title = {Model based adaptive control for a soft robotic manipulator},
url = {http://dx.doi.org/10.1109/CDC40024.2019.9029449},
year = {2020}
}
TY - CPAPER
AB - The application of model based adaptive control to an underactuated system representative of a class of soft continuummanipulators is investigated. To this end, a rigid-linkmodel with elastic joints is employed and an energy shaping controller is designed. Additionally, model uncertainties and external disturbances, both matched and unmatched, are compensated with an adaptive algorithm. This results in a control law that only depends on the orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are discussed and the effectiveness of the controller is verified via simulations.
AU - Franco,E
AU - Garriga,Casanovas A
AU - Rodriguez,y Baena F
AU - Astolfi,A
DO - 10.1109/CDC40024.2019.9029449
EP - 1024
PB - IEEE
PY - 2020///
SP - 1019
TI - Model based adaptive control for a soft robotic manipulator
UR - http://dx.doi.org/10.1109/CDC40024.2019.9029449
UR - https://ieeexplore.ieee.org/document/9029449
UR - http://hdl.handle.net/10044/1/75757
ER -
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
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