TY - GEN
T1 - Design, production and integration of a shape sensing robotic sleeve for a hyper-redundant, binary actuated robot
AU - Tappe, Svenja
AU - Boyraz, Pinar
AU - Korz, Helge
AU - Ortmaier, Tobias
N1 - Funding information: The research stay of Dr. Pinar Boyraz during Feb. 2016 - July 2017 was kindly supported by Alexander von Humboldt Foundation via Experienced Researcher Fellowship grant.
PY - 2018/7/9
Y1 - 2018/7/9
N2 - Endoscopes have become a common tool for a variety of examination tasks in areas that are difficult to access. Robotic endoscope systems aim to combine two main requirements for a fast, precise and safe operation: Good path following capabilities as well as high resistance against manipulation forces. In this context, a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. To keep the actuator as simple as possible, no sensors were integrated. In order to close the control loop and capture the current configuration of the shaft in combination with establishing a safe interaction interface between the electromagnetic manipulator and its environment, this paper addresses preliminary design issues and first results for a sensor equipped silicon sheath for the robotic system.
AB - Endoscopes have become a common tool for a variety of examination tasks in areas that are difficult to access. Robotic endoscope systems aim to combine two main requirements for a fast, precise and safe operation: Good path following capabilities as well as high resistance against manipulation forces. In this context, a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. To keep the actuator as simple as possible, no sensors were integrated. In order to close the control loop and capture the current configuration of the shaft in combination with establishing a safe interaction interface between the electromagnetic manipulator and its environment, this paper addresses preliminary design issues and first results for a sensor equipped silicon sheath for the robotic system.
UR - https://www.scopus.com/pages/publications/85053903892
U2 - 10.1109/aim.2018.8452710
DO - 10.1109/aim.2018.8452710
M3 - Conference contribution
AN - SCOPUS:85053903892
SN - 978-1-5386-1855-4
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 298
EP - 303
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Y2 - 9 July 2018 through 12 July 2018
ER -