The pose control for BMA-actuated soft EAR robot under external forces.

外力作用下 BMA 驱动的软 EAR 机器人的位姿控制。

• 批准号: 2841316
• 金额: --
• 依托单位: King's College London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2841316
• 关键词: pose; control; BMA; actuated; soft

In order to simplify the robot's clinical translation, the goal of this research is to investigate new control strategies for this soft robotic solution to obtain greater steering capabilities, active stabilization, and motion suppression, for example by modulating the applied contact force. To achieve this, new vision-based feedback techniques will be investigated in order to enhance the controllability of membrane-actuated soft robots. Control strategies for the soft robot will also be developed for this aim. Therefore, new control methods for ensuring contact between the robot and its surroundings will be investigated. The resulting methods will then be put to use, such as adapting the mechanical impedance of the system to enable successful process delivery. The Ph.D. agenda is mainly divided into three sections.Firstly, the pose control of the robot will be implemented using sensing variables used to describe the mechanical configuration of the robot (intrinsic sensing variables). Since intrinsic sensing-based control could potentially give erroneous results, an onboard camera will be used to implement a hybrid control combining vision with intrinsic sensing. In the last stage of the Ph.D., in addition to the previously mentioned points, patient and surgeon movements will be taken into account and countered for achieving a realistic control technique.

为了简化机器人的临床转化，本研究的目标是研究这种软机器人解决方案的新控制策略，以获得更大的转向能力、主动稳定性和运动抑制，例如通过调节所施加的接触力。为了实现这一目标，将研究新的基于视觉的反馈技术，以增强膜驱动软机器人的可控性。为此目的，还将开发软机器人的控制策略。因此，将研究确保机器人与其周围环境接触的新控制方法。由此产生的方法将被投入使用，例如调整系统的机械阻抗以实现成功的流程交付。博士学位。议程主要分为三个部分。首先，将使用用于描述机器人机械配置的传感变量（固有传感变量）来实现机器人的位姿控制。由于基于内在传感的控制可能会给出错误的结果，因此将使用机载摄像头来实现将视觉与内在传感相结合的混合控制。在博士的最后阶段，除了前面提到的几点之外，还将考虑并抵消患者和外科医生的运动，以实现现实的控制技术。