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Modeling and Task-Oriented Optimization of Contact-Aided Continuum Robots
Gao AZ(高安柱)1,2,3; Li JH(李建华)3,4; Zhou YY(周圆圆)3,4; Wang ZD(王志东)5; Liu H(刘浩)3,4
Department机器人学研究室
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
2020
Volume25Issue:3Pages:1444-1455
Indexed BySCI ; EI
EI Accession number20202708883584
WOS IDWOS:000544038100028
Contribution Rank1
Funding OrganizationNational Key R&D Program of China under Grant 2017YFC0110904 ; National Natural Science Foundation of China under Grant 61473281 and Grant 61873257 ; SJTU Global Strategic Partnership Fund (2019 SJTU-CUHK) ; State Key Laboratory of Robotics and Systems (HIT) (SKLRS-2020-KF-18)
KeywordAsymmetric configuration contact-aided compliant mechanism continuum robots mechanical model task-oriented optimization
Abstract

Steerable catheters, as one type of continuum robot, has been popularly used to reach targets to treat atrial fibrillation. Its tip orientation relative to the surface normal of anatomy affects the ablation efficiency and lesion volume. Traditional catheters with a constant deflection have to rely on the reaction force from the tissue to reach targets, and their tip orientation capability is always limited. To overcome this challenge, we propose a miniaturized tendon actuated continuum robot with asymmetric contact-aided compliant mechanisms (CCMs) to generate asymmetric bends. It can adapt to the confined space and improve the tip orientation capability. The general configuration with the customized contact-aided segments and spatial arrangements is investigated. A mechanical model considering self-contacts and tendon interactions is built to describe free bends and constrained bends. A task-oriented optimization based on the mechanical model is implemented to find the best asymmetric configuration with unevenly distributed CCMs. Experiments are carried out to validate the proposed design, model, and optimization. Comparisons of continuum robots with and without CCMs by experiments and simulation demonstrate its potential advantages to improve the deflection and tip orientation in the confined space.

Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS KeywordDESIGN
WOS Research AreaAutomation & Control Systems ; Engineering
Funding ProjectNational Key R&D Program of China[2017YFC0110904] ; National Natural Science Foundation of China[61473281] ; National Natural Science Foundation of China[61873257] ; SJTU Global Strategic Partnership Fund (2019 SJTU-CUHK) ; State Key Laboratory of Robotics and Systems (HIT)[SKLRS-2020-KF-18]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27326
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
2.Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
4.University of Chinese Academy of Sciences, Beijing 100049, China
5.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
Recommended Citation
GB/T 7714
Gao AZ,Li JH,Zhou YY,et al. Modeling and Task-Oriented Optimization of Contact-Aided Continuum Robots[J]. IEEE/ASME Transactions on Mechatronics,2020,25(3):1444-1455.
APA Gao AZ,Li JH,Zhou YY,Wang ZD,&Liu H.(2020).Modeling and Task-Oriented Optimization of Contact-Aided Continuum Robots.IEEE/ASME Transactions on Mechatronics,25(3),1444-1455.
MLA Gao AZ,et al."Modeling and Task-Oriented Optimization of Contact-Aided Continuum Robots".IEEE/ASME Transactions on Mechatronics 25.3(2020):1444-1455.
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