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.2024.3399474,
author = {Franco, E and Arpenti, P and Donaire, A and Ruggiero, F},
doi = {10.1109/LCSYS.2024.3399474},
journal = {IEEE Control Systems Letters},
pages = {568--573},
title = {Integral IDA-PBC for underactuated mechanical systems subject to matched and unmatched disturbances},
url = {http://dx.doi.org/10.1109/LCSYS.2024.3399474},
volume = {8},
year = {2024}
}
TY - JOUR
AB - This letter presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.
AU - Franco,E
AU - Arpenti,P
AU - Donaire,A
AU - Ruggiero,F
DO - 10.1109/LCSYS.2024.3399474
EP - 573
PY - 2024///
SN - 2475-1456
SP - 568
TI - Integral IDA-PBC for underactuated mechanical systems subject to matched and unmatched disturbances
T2 - IEEE Control Systems Letters
UR - http://dx.doi.org/10.1109/LCSYS.2024.3399474
UR - https://ieeexplore.ieee.org/document/10529105
UR - http://hdl.handle.net/10044/1/112208
VL - 8
ER -
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