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:2020:10.1002/rnc.4985,
author = {Franco, E and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1002/rnc.4985},
journal = {International Journal of Robust and Nonlinear Control},
pages = {4112--4128},
title = {Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances},
url = {http://dx.doi.org/10.1002/rnc.4985},
volume = {30},
year = {2020}
}
TY - JOUR
AB - This article investigates the control problem for underactuated portcontrolled Hamiltonian systems with multiple linearly parameterized additive disturbances including matched, unmatched, constant, and statedependent components. The notion of algebraic solution of the matching equations is employed to design an extension of the interconnection and damping assignment passivitybased control methodology that does not rely on the solution of partial differential equations. The result is a dynamic statefeedback that includes a disturbance compensation term, where the unknown parameters are estimated adaptively. A simplified implementation of the proposed approach for underactuated mechanical systems is detailed. The effectiveness of the controller is demonstrated with numerical simulations for the magneticlevitatedball system and for the ballonbeam system.
AU - Franco,E
AU - Rodriguez,y Baena F
AU - Astolfi,A
DO - 10.1002/rnc.4985
EP - 4128
PY - 2020///
SN - 1049-8923
SP - 4112
TI - Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances
T2 - International Journal of Robust and Nonlinear Control
UR - http://dx.doi.org/10.1002/rnc.4985
UR - https://onlinelibrary.wiley.com/doi/full/10.1002/rnc.4985
UR - http://hdl.handle.net/10044/1/79024
VL - 30
ER -
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