Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots
Identifieur interne : 003E90 ( Main/Exploration ); précédent : 003E89; suivant : 003E91Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots
Auteurs : KAI XU [République populaire de Chine] ; Nabil Simaan [États-Unis]Source :
- IEEE transactions on robotics [ 1552-3098 ] ; 2010.
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Abstract
This paper presents the intrinsic capability of full-wrench estimation of multisegment continuum robots with multiple flexible backbones. Intrinsic-full-wrench estimation refers to the ability of continuum robots to also serve as force and moment sensors by using measurements of axial loads on their backbones. This end-effector-as-sensor approach fulfills the rapidly increasing needs for miniature-robotic-surgical tools with haptic sensing ability subject to various limitations, such as size, magnetic resonance imaging (MRI) compatibility, sterilizability, etc. A performance index for the intrinsic wrench-sensing capability is introduced and evaluated to show how this index can serve as a design guide for continuum robots that provide force sensing.
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots</title><author><name sortKey="Kai Xu" sort="Kai Xu" uniqKey="Kai Xu" last="Kai Xu">KAI XU</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University</s1><s2>Shanghai 200240</s2><s3>CHN</s3><sZ>1 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Simaan, Nabil" sort="Simaan, Nabil" uniqKey="Simaan N" first="Nabil" last="Simaan">Nabil Simaan</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Department of Mechanical Engineering, Columbia University</s1><s2>New York, NY 10027</s2><s3>USA</s3><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">État de New York</region></placeName><orgName type="university">Université Columbia</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">10-0405562</idno><date when="2010">2010</date><idno type="stanalyst">PASCAL 10-0405562 INIST</idno><idno type="RBID">Pascal:10-0405562</idno><idno type="wicri:Area/PascalFrancis/Corpus">000593</idno><idno type="wicri:Area/PascalFrancis/Curation">000E12</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000451</idno><idno type="wicri:doubleKey">1552-3098:2010:Kai Xu:intrinsic:wrench:estimation</idno><idno type="wicri:Area/Main/Merge">003F50</idno><idno type="wicri:Area/Main/Curation">003E90</idno><idno type="wicri:Area/Main/Exploration">003E90</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots</title><author><name sortKey="Kai Xu" sort="Kai Xu" uniqKey="Kai Xu" last="Kai Xu">KAI XU</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University</s1><s2>Shanghai 200240</s2><s3>CHN</s3><sZ>1 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Simaan, Nabil" sort="Simaan, Nabil" uniqKey="Simaan N" first="Nabil" last="Simaan">Nabil Simaan</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Department of Mechanical Engineering, Columbia University</s1><s2>New York, NY 10027</s2><s3>USA</s3><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">État de New York</region></placeName><orgName type="university">Université Columbia</orgName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Axial load</term><term>Biomimetics</term><term>Capability index</term><term>Continuum mechanics</term><term>Feedback regulation</term><term>Force measurement</term><term>Force transducer</term><term>Gripper</term><term>Measurement sensor</term><term>Multiagent system</term><term>Robotics</term><term>Surgery</term><term>Tactile sensitivity</term><term>Tentacle</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Système multiagent</term><term>Rétroaction</term><term>Biomimétique</term><term>Mécanique milieu continu</term><term>Tentacule</term><term>Indice aptitude</term><term>Capteur force</term><term>Mesure force</term><term>Capteur mesure</term><term>Charge axiale</term><term>Préhenseur</term><term>Chirurgie</term><term>Sensibilité tactile</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Chirurgie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents the intrinsic capability of full-wrench estimation of multisegment continuum robots with multiple flexible backbones. Intrinsic-full-wrench estimation refers to the ability of continuum robots to also serve as force and moment sensors by using measurements of axial loads on their backbones. This end-effector-as-sensor approach fulfills the rapidly increasing needs for miniature-robotic-surgical tools with haptic sensing ability subject to various limitations, such as size, magnetic resonance imaging (MRI) compatibility, sterilizability, etc. A performance index for the intrinsic wrench-sensing capability is introduced and evaluated to show how this index can serve as a design guide for continuum robots that provide force sensing.</div></front></TEI><affiliations><list><country><li>République populaire de Chine</li><li>États-Unis</li></country><region><li>État de New York</li></region><orgName><li>Université Columbia</li></orgName></list><tree><country name="République populaire de Chine"><noRegion><name sortKey="Kai Xu" sort="Kai Xu" uniqKey="Kai Xu" last="Kai Xu">KAI XU</name></noRegion></country><country name="États-Unis"><region name="État de New York"><name sortKey="Simaan, Nabil" sort="Simaan, Nabil" uniqKey="Simaan N" first="Nabil" last="Simaan">Nabil Simaan</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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