Screw-based modeling of soft manipulators with tendon and fluidic actuation

Federico Renda; Matteo Cianchetti; Haider Abidi; Jorge Dias; Lakmal Seneviratne

doi:10.1115/1.4036579

Screw-based modeling of soft manipulators with tendon and fluidic actuation

Federico Renda, Matteo Cianchetti, Haider Abidi, Jorge Dias, Lakmal Seneviratne

Scuola Superiore Sant'Anna

Research output: Contribution to journal › Article › peer-review

32 Scopus citations

Abstract

A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly differentiated, and guidelines for the manipulable and force-closure conditions are developed. Finally, the model is validated through experiments using the soft manipulator for minimally invasive surgery STIFF-FLOP.

Original language	British English
Article number	041012
Journal	Journal of Mechanisms and Robotics
Volume	9
Issue number	4
DOIs	https://doi.org/10.1115/1.4036579
State	Published - 1 Aug 2017

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abstract = "A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly differentiated, and guidelines for the manipulable and force-closure conditions are developed. Finally, the model is validated through experiments using the soft manipulator for minimally invasive surgery STIFF-FLOP.",

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AU - Cianchetti, Matteo

AU - Abidi, Haider

AU - Dias, Jorge

AU - Seneviratne, Lakmal

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Screw-based modeling of soft manipulators with tendon and fluidic actuation

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