Abolfathi, Kiana and Rosales-Medina, José A and Khaksar, Hesam and Chandler, James H and McDonald-Maier, Klaus D and Ashkan, Keyoumars and Valdastri, Pietro and Hoshiar, Ali Kafash (2023) Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots. IEEE Robotics and Automation Letters, 8 (7). pp. 4235-4242. DOI https://doi.org/10.1109/lra.2023.3280749
Abolfathi, Kiana and Rosales-Medina, José A and Khaksar, Hesam and Chandler, James H and McDonald-Maier, Klaus D and Ashkan, Keyoumars and Valdastri, Pietro and Hoshiar, Ali Kafash (2023) Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots. IEEE Robotics and Automation Letters, 8 (7). pp. 4235-4242. DOI https://doi.org/10.1109/lra.2023.3280749
Abolfathi, Kiana and Rosales-Medina, José A and Khaksar, Hesam and Chandler, James H and McDonald-Maier, Klaus D and Ashkan, Keyoumars and Valdastri, Pietro and Hoshiar, Ali Kafash (2023) Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots. IEEE Robotics and Automation Letters, 8 (7). pp. 4235-4242. DOI https://doi.org/10.1109/lra.2023.3280749
Abstract
Fully soft continuum magnetic (FSCMs) microrobots with highly deformable structures have emerged as a potential solution to robotically controlled endovascular interventions. The microrobot's structure is made of magneto-responsive material, which offers full body control under a magnetic field instead of limited tip deformation. The shape control for these microrobots enables steering in complex paths with limited contact with the environment. We studied full body control under fields generated using up to two robotically controlled permanent magnets and in combination with an electromagnetic system. The effect of different parameters, such as the number of permanent magnets, position of the permanent magnets and intensity and direction of the electromagnetic field, on the robot's shape has been experimentally investigated. A mathematical model to predict tip deformation angle (TDA) was introduced and verified experimentally (root mean square error (RMSE) 6.5). Ten different characteristic body shapes were identified based on the curvature of the soft robot. Based on the obtained data, a proof-of-concept demo is presented for the full body controlled soft robots. The accuracy of steering soft robots on a continuous path with all three magnetic control strategies was investigated. The results show that the proposed method effectively enables shape forming and minimizes contact with the surrounding environment (the average distance to the centerline was 1.24 mm). The proposed approach hold promises to elevate endovascular interventions towards the least invasive surgery.
Item Type: | Article |
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Uncontrolled Keywords: | Fully soft continuum magnetic (FSCMs) microrobots; magnetic control; shape forming; body shape control; microrobot; magneto responsive material |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 24 Jul 2023 18:00 |
Last Modified: | 16 May 2024 21:53 |
URI: | http://repository.essex.ac.uk/id/eprint/35820 |
Available files
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