A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots DOI
Mostafa Sayahkarajy, Hartmut Witte

Biomedical Engineering / Biomedizinische Technik, Год журнала: 2024, Номер 69(6), С. 609 - 621

Опубликована: Июль 19, 2024

Abstract Objectives This research investigates designing a continuum soft robot and proposing kinematic matching control to enable the perform specified medical task, which in this paper is transesophageal echocardiography (TEE). Methods A multi-chamber was designed fabricated based on molding of separate layers. The method transformation matrices used develop models, using Jacobian proposed manipulate robot. Results prototype made multi-layer design. system contains three segments that can be actuated independently mimic active bending part respective probe. Kinematic models were developed. Negative pressure (vacuum) as actuation input. An open-loop controller inspired by redundancy resolution technique make tip follow desired path, i.e. path rigid ultrasound Conclusions It concluded solution required task reachable points TEE cover workspace for maneuvering arbitrary trajectories.

Язык: Английский

Empirical Data-Driven Linear Model of a Swimming Robot Using the Complex Delay-Embedding DMD Technique DOI Creative Commons
Mostafa Sayahkarajy, Hartmut Witte

Biomimetics, Год журнала: 2025, Номер 10(1), С. 60 - 60

Опубликована: Янв. 16, 2025

Anguilliform locomotion, an efficient aquatic locomotion mode where the whole body is engaged in fluid-body interaction, contains sophisticated physics. We hypothesized that data-driven modeling techniques may extract models or patterns of swimmers' dynamics without implicitly measuring hydrodynamic variables. This work proposes empirical kinematic control and a soft swimming robot. The robot comprises six serially connected segments can individually bend with segmental pneumatic artificial muscles. Kinematic equations relations are proposed to measure desired actuation mimic anguilliform kinematics. was tested experimentally position velocities spatially digitized points were collected using QualiSys® Tracking Manager (QTM) 1.6.0.1. data analyzed offline, proposing new complex variable delay-embedding dynamic decomposition (CDE DMD) algorithm combines state filtering time embedding linear approximate model. While experimental results exhibited exotic curves phase plane series, analysis showed extracts chaotic modes contributing data. It concluded be described by linearized model interrupted modes. technique successfully coherent from limited measurements linearizes system dynamics.

Язык: Английский

Процитировано

0
A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots DOI
Mostafa Sayahkarajy, Hartmut Witte

Biomedical Engineering / Biomedizinische Technik, Год журнала: 2024, Номер 69(6), С. 609 - 621

Опубликована: Июль 19, 2024

Abstract Objectives This research investigates designing a continuum soft robot and proposing kinematic matching control to enable the perform specified medical task, which in this paper is transesophageal echocardiography (TEE). Methods A multi-chamber was designed fabricated based on molding of separate layers. The method transformation matrices used develop models, using Jacobian proposed manipulate robot. Results prototype made multi-layer design. system contains three segments that can be actuated independently mimic active bending part respective probe. Kinematic models were developed. Negative pressure (vacuum) as actuation input. An open-loop controller inspired by redundancy resolution technique make tip follow desired path, i.e. path rigid ultrasound Conclusions It concluded solution required task reachable points TEE cover workspace for maneuvering arbitrary trajectories.

Язык: Английский

Процитировано

1