Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition.
jamming transition
minimally invasive surgery
soft robotics
surgical manipulator
variable stiffness system
Journal
Frontiers in robotics and AI
ISSN: 2296-9144
Titre abrégé: Front Robot AI
Pays: Switzerland
ID NLM: 101749350
Informations de publication
Date de publication:
2019
2019
Historique:
received:
22
10
2018
accepted:
18
02
2019
entrez:
27
1
2021
pubmed:
19
3
2019
medline:
19
3
2019
Statut:
epublish
Résumé
Soft robots have proved to represent a new frontier for the development of intelligent machines able to show new capabilities that can complement those currently performed by robots based on rigid materials. One of the main application areas where this shift is promising an impact is minimally invasive surgery. In previous works, the STFF-FLOP soft manipulator has been introduced as a new concept of using soft materials to develop endoscopic tools. In this paper, we present a novel kind of stiffening system based on fiber jamming transition that can be embedded in the manipulator to widen its applicability by increasing its stability and with the possibility to produce and transmit higher forces. The STIFF-FLOP original module has been re-designed in two new versions to incorporate the variable stiffness mechanism. The two designs have been evaluated in terms of dexterity and variable stiffness capability and, despite a general optimization rule did not clearly emerge, the study confirmed that fiber jamming transition can be considered an effective technological approach for obtaining variable stiffness in slender soft structures.
Identifiants
pubmed: 33501028
doi: 10.3389/frobt.2019.00012
pmc: PMC7806054
doi:
Types de publication
Journal Article
Langues
eng
Pagination
12Informations de copyright
Copyright © 2019 Brancadoro, Manti, Grani, Tognarelli, Menciassi and Cianchetti.
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