Force analysis and modelling of soft actuators for catheter robots

Mark Gilbertson, Darrin Beekman, Biswaranjan Mohanty, Saeed Hashemi, Sangyoon Lee, James D Van De Ven, Timothy M Kowalewski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

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 languageEnglish (US)
Title of host publicationMechatronics; 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
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791850701
DOIs
StatePublished - Jan 1 2016
EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
Duration: Oct 12 2016Oct 14 2016

Publication series

NameASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Volume2

Other

OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
CountryUnited States
CityMinneapolis
Period10/12/1610/14/16

Fingerprint

Catheters
Actuators
Robots
Robotics
End effectors
Force control
Dynamical systems
Blood vessels
Mean square error
Nonlinear systems
Identification (control systems)

Cite this

Gilbertson, M., Beekman, D., Mohanty, B., Hashemi, S., Lee, S., Van De Ven, J. D., & Kowalewski, T. M. (2016). Force analysis and modelling of soft actuators for catheter robots. In 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 (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2016-9914

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 proceedingConference contribution

Gilbertson, M, Beekman, D, Mohanty, B, Hashemi, S, Lee, S, Van De Ven, JD & Kowalewski, TM 2016, Force analysis and modelling of soft actuators for catheter robots. in 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. ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, vol. 2, American Society of Mechanical Engineers, ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, Minneapolis, United States, 10/12/16. https://doi.org/10.1115/DSCC2016-9914
Gilbertson M, Beekman D, Mohanty B, Hashemi S, Lee S, Van De Ven JD et al. Force analysis and modelling of soft actuators for catheter robots. In 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). https://doi.org/10.1115/DSCC2016-9914
Gilbertson, Mark ; Beekman, Darrin ; Mohanty, Biswaranjan ; Hashemi, Saeed ; Lee, Sangyoon ; Van De Ven, James D ; Kowalewski, Timothy M. / Force analysis and modelling of soft actuators for catheter robots. 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).
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