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:2017:10.1002/acs.2825,
author = {Franco, E},
doi = {10.1002/acs.2825},
journal = {International Journal of Adaptive Control and Signal Processing},
pages = {69--82},
title = {Immersion and invariance adaptive control for discrete-time systems in strict feedback form with input delay and disturbances},
url = {http://dx.doi.org/10.1002/acs.2825},
volume = {32},
year = {2017}
}
TY - JOUR
AB - This work presents a new adaptive control algorithm for a class of discrete-time systems in strict-feedback form with input delay and disturbances. The immersion and invariance formulation is used to estimate the disturbances and to compensate the effect of the input delay, resulting in a recursive control law. The stability of the closed-loop system is studied using Lyapunov functions, and guidelines for tuning the controller parameters are presented. An explicit expression of the control law in the case of multiple simultaneous disturbances is provided for the tracking problem of a pneumatic drive. The effectiveness of the control algorithm is demonstrated with numerical simulations considering disturbances and input-delay representative of the application.
AU - Franco,E
DO - 10.1002/acs.2825
EP - 82
PY - 2017///
SN - 0890-6327
SP - 69
TI - Immersion and invariance adaptive control for discrete-time systems in strict feedback form with input delay and disturbances
T2 - International Journal of Adaptive Control and Signal Processing
UR - http://dx.doi.org/10.1002/acs.2825
UR - http://hdl.handle.net/10044/1/50587
VL - 32
ER -
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