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:2024:10.1109/LCSYS.2024.3396288,
author = {Franco, E and Fulvio, F},
doi = {10.1109/LCSYS.2024.3396288},
journal = {IEEE Control Systems Letters},
pages = {466--471},
title = {Integral controlled lagrangians for underactuated mechanical systems subject to position-dependent matched disturbances},
url = {http://dx.doi.org/10.1109/LCSYS.2024.3396288},
volume = {8},
year = {2024}
}
TY - JOUR
AB - This letter investigates the dynamic extension of the Controlled Lagrangians methodology for underactuated mechanical systems subject to matched disturbances that depend on the generalized position. A new passivity-preserving controller design procedure is presented for a class of underactuated mechanical systems. An interpretation of the dynamic extension as first-order low-pass filter is proposed. Simulations results on a inertia-wheel pendulum with various types of disturbances demonstrate the effectiveness of the new controller.
AU - Franco,E
AU - Fulvio,F
DO - 10.1109/LCSYS.2024.3396288
EP - 471
PY - 2024///
SN - 2475-1456
SP - 466
TI - Integral controlled lagrangians for underactuated mechanical systems subject to position-dependent matched disturbances
T2 - IEEE Control Systems Letters
UR - http://dx.doi.org/10.1109/LCSYS.2024.3396288
UR - http://hdl.handle.net/10044/1/112083
VL - 8
ER -
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