Intrinsic force sensing capabilities in compliant robots comprising hydraulic actuation

TY - CHAP

T1 - Intrinsic force sensing capabilities in compliant robots comprising hydraulic actuation

AU - Lindenroth, Lukas

AU - Duriez, Christian

AU - Back, Junghwan

AU - Rhode, Kawal

AU - Liu, Hongbin

PY - 2017/12/13

Y1 - 2017/12/13

N2 - Knowledge of externally applied forces is crucial for compliant robotic manipulators in minimally-invasive and endoluminal robotic surgery for both patient safety and controllability of the device. We developed a novel continuum manipulator which comprises hydraulic actuation. In this work we investigate the use of the hydrostatic pressure feedback inside the inflatable actuation chambers to determine the normal and shear forces which are applied to the tip of the robot. For that purpose a nonlinear finite element model is derived and experimentally validated, showing a good approximation between experiment and simulation. The model is then used to derive descriptions for the normal and shear forces applied to the robot tip. The normal force estimation shows good results over the range of experimentally validated tip angles, while the shear force estimation shows good results for small tip deflection angles with an increasing error, with the tip orientation. The algorithm indicates good applicability to force control tasks as the forces are fast to compute.

AB - Knowledge of externally applied forces is crucial for compliant robotic manipulators in minimally-invasive and endoluminal robotic surgery for both patient safety and controllability of the device. We developed a novel continuum manipulator which comprises hydraulic actuation. In this work we investigate the use of the hydrostatic pressure feedback inside the inflatable actuation chambers to determine the normal and shear forces which are applied to the tip of the robot. For that purpose a nonlinear finite element model is derived and experimentally validated, showing a good approximation between experiment and simulation. The model is then used to derive descriptions for the normal and shear forces applied to the robot tip. The normal force estimation shows good results over the range of experimentally validated tip angles, while the shear force estimation shows good results for small tip deflection angles with an increasing error, with the tip orientation. The algorithm indicates good applicability to force control tasks as the forces are fast to compute.

UR - http://www.scopus.com/inward/record.url?scp=85041961816&partnerID=8YFLogxK

U2 - 10.1109/IROS.2017.8206125

DO - 10.1109/IROS.2017.8206125

M3 - Other chapter contribution

AN - SCOPUS:85041961816

VL - 2017-September

SP - 2923

EP - 2928

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

Y2 - 24 September 2017 through 28 September 2017

ER -