Abstract
Soft robotic actuators may provide the means to develop a soft robotic catheter, enabling safer and more effective transcatheter procedures. In many clinical applications, device contact force affects the quality of diagnostic or the degree of therapy delivered. Therefore precise end effector force control will be a requirement for the soft robotic catheter. In this study a bending soft actuator system was fabricated, and the relationship between volume input and end effector contact force is examined. Static and dynamic system identification were conducted under two different loading conditions loosely related to actuation in a blood vessel. The experimental data from these tests led to the creation of a non-linear system model. A reduced term model was developed using a Root Mean Square Error (RMSE) method in order to observe the importance of system dynamics and nonlinearities. A different system model was designed for each loading condition. These two reduced models matched with experimental result, but differed in model terms and parameters, suggesting that either loading condition identification or end effector closed-loop sensing will be needed for accurate contact force control of a soft robotic actuator in an intravascular environment.
| Original language | English (US) |
|---|---|
| Title of host publication | Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control |
| Publisher | American Society of Mechanical Engineers |
| ISBN (Electronic) | 9780791850701 |
| DOIs | |
| State | Published - Jan 1 2016 |
| Event | ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States Duration: Oct 12 2016 → Oct 14 2016 |
Publication series
| Name | ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 |
|---|---|
| Volume | 2 |
Other
| Other | ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 |
|---|---|
| Country | United States |
| City | Minneapolis |
| Period | 10/12/16 → 10/14/16 |
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Force analysis and modelling of soft actuators for catheter robots. / Gilbertson, Mark; Beekman, Darrin; Mohanty, Biswaranjan; Hashemi, Saeed; Lee, Sangyoon; Van De Ven, James D.; Kowalewski, Timothy M.
Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Force analysis and modelling of soft actuators for catheter robots
AU - Gilbertson, Mark
AU - Beekman, Darrin
AU - Mohanty, Biswaranjan
AU - Hashemi, Saeed
AU - Lee, Sangyoon
AU - Van De Ven, James D.
AU - Kowalewski, Timothy M.
PY - 2016/1/1
Y1 - 2016/1/1
N2 - Soft robotic actuators may provide the means to develop a soft robotic catheter, enabling safer and more effective transcatheter procedures. In many clinical applications, device contact force affects the quality of diagnostic or the degree of therapy delivered. Therefore precise end effector force control will be a requirement for the soft robotic catheter. In this study a bending soft actuator system was fabricated, and the relationship between volume input and end effector contact force is examined. Static and dynamic system identification were conducted under two different loading conditions loosely related to actuation in a blood vessel. The experimental data from these tests led to the creation of a non-linear system model. A reduced term model was developed using a Root Mean Square Error (RMSE) method in order to observe the importance of system dynamics and nonlinearities. A different system model was designed for each loading condition. These two reduced models matched with experimental result, but differed in model terms and parameters, suggesting that either loading condition identification or end effector closed-loop sensing will be needed for accurate contact force control of a soft robotic actuator in an intravascular environment.
AB - Soft robotic actuators may provide the means to develop a soft robotic catheter, enabling safer and more effective transcatheter procedures. In many clinical applications, device contact force affects the quality of diagnostic or the degree of therapy delivered. Therefore precise end effector force control will be a requirement for the soft robotic catheter. In this study a bending soft actuator system was fabricated, and the relationship between volume input and end effector contact force is examined. Static and dynamic system identification were conducted under two different loading conditions loosely related to actuation in a blood vessel. The experimental data from these tests led to the creation of a non-linear system model. A reduced term model was developed using a Root Mean Square Error (RMSE) method in order to observe the importance of system dynamics and nonlinearities. A different system model was designed for each loading condition. These two reduced models matched with experimental result, but differed in model terms and parameters, suggesting that either loading condition identification or end effector closed-loop sensing will be needed for accurate contact force control of a soft robotic actuator in an intravascular environment.
UR - http://www.scopus.com/inward/record.url?scp=85015641243&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015641243&partnerID=8YFLogxK
U2 - 10.1115/DSCC2016-9914
DO - 10.1115/DSCC2016-9914
M3 - Conference contribution
AN - SCOPUS:85015641243
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
PB - American Society of Mechanical Engineers
ER -