TY - JOUR
T1 - A Sliding-Rod Variable-Strain Model for Concentric Tube Robots
AU - Renda, Federico
AU - Messer, Conor
AU - Rucker, Caleb
AU - Boyer, Frederic
N1 - Funding Information:
Manuscript received October 22, 2020; accepted February 20, 2021. Date of publication March 3, 2021; date of current version March 23, 2021. This letter was recommended for publication by Associate Editor T. Nanayakkara and Editor C. Laschi upon evaluation of the reviewers’ comments. This work was supported in part by the Khalifa University of Science and Technology under Grants RC2-2018-HEIC, CIRA-2020-074 and RC1-2018-KUCARS, and in part by ADEK Award for Research Excellence under Grant AARE-2018-105. (Corresponding author: Federico Renda.) Federico Renda is with the Healthcare Engineering Innovation Center, Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, Abu Dhabi 127788, UAE (e-mail: [email protected]).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - In this work, the Piecewise Variable-strain (PVS) approach is applied to the case of Concentric Tube Robots (CTRs) and extended to include the tubes' sliding motion. In particular, the currently accepted continuous Cosserat rod model is discretized onto a finite set of strain basis functions. At the same time, the insertion and rotation motions of the tubes are included as generalized coordinates instead of boundary kinematic conditions. Doing so, we obtain a minimum set of closed-form algebraic equations that can be solved not only for the shape variables but also for the actuation forces and torques for the first time. This new approach opens the way to torque-controlled CTRs, which is poised to enhance elastic stability and improve interaction forces' control at the end-effector.
AB - In this work, the Piecewise Variable-strain (PVS) approach is applied to the case of Concentric Tube Robots (CTRs) and extended to include the tubes' sliding motion. In particular, the currently accepted continuous Cosserat rod model is discretized onto a finite set of strain basis functions. At the same time, the insertion and rotation motions of the tubes are included as generalized coordinates instead of boundary kinematic conditions. Doing so, we obtain a minimum set of closed-form algebraic equations that can be solved not only for the shape variables but also for the actuation forces and torques for the first time. This new approach opens the way to torque-controlled CTRs, which is poised to enhance elastic stability and improve interaction forces' control at the end-effector.
KW - and learning for soft robots
KW - control
KW - Modeling
KW - steerable catheters/needles
KW - surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=85102252880&partnerID=8YFLogxK
U2 - 10.1109/LRA.2021.3063704
DO - 10.1109/LRA.2021.3063704
M3 - Article
AN - SCOPUS:85102252880
SN - 2377-3766
VL - 6
SP - 3451
EP - 3458
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 9368976
ER -