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{Bastos:2021:10.1007/s11071-021-06863-9,
author = {Bastos, Jr G and Franco, E},
doi = {10.1007/s11071-021-06863-9},
journal = {Nonlinear Dynamics},
pages = {359--380},
title = {Energy shaping dynamic tube-MPC for underactuated mechanical systems},
url = {http://dx.doi.org/10.1007/s11071-021-06863-9},
volume = {106},
year = {2021}
}
TY - JOUR
AB - This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of the dynamic tube Model Predictive Control (MPC) approach by combining an MPC design, an ancillary energy shaping controller constructed with the Interconnection and Damping Assignment Passivity-Based Control methodology, and an analytical expression of the dynamic tube. In addition, we extend the proposed approach by including the adaptive compensation of a class of unknown disturbances. The stability analysis is presented by employing a Lyapunov approach. The effectiveness of the proposed controller is demonstrated with simulations on two underactuated systems: a two-mass-spring-damper system with uncertain damping and either linear or nonlinear spring; an inertia-wheel-pendulum with unmodeled disturbances.
AU - Bastos,Jr G
AU - Franco,E
DO - 10.1007/s11071-021-06863-9
EP - 380
PY - 2021///
SN - 0924-090X
SP - 359
TI - Energy shaping dynamic tube-MPC for underactuated mechanical systems
T2 - Nonlinear Dynamics
UR - http://dx.doi.org/10.1007/s11071-021-06863-9
UR - https://link.springer.com/article/10.1007%2Fs11071-021-06863-9
UR - http://hdl.handle.net/10044/1/91650
VL - 106
ER -
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