Development of Intuitive Mechanism for Position Control of Soft Robot

Disciplines

Biomechanical Engineering

Abstract (300 words maximum)

This study presents the development of a master/slave system utilizing a twin Stewart mechanism as a specialized joystick with 6 Degrees of Freedom (DOF). The aim is to create an intuitive and single-handedly controllable interface for surgeons, enabling precise manipulation of a soft robot's end-effector. The design process involves selecting the Stewart mechanism for its 6 DOF capability, determining its size based on the surgeon's hand motion range, and manufacturing it through 3D printing. Rotational potentiometers are integrated onto each leg for accurate displacement sensing, translating hand motion to passive leg movements, mapped to desired bending actions in the active links of the soft robot through calibration. An Electromagnetic (EM) tracker attached to the robot end-effector senses its position, mapped to bending deformation of robot legs via kinematics models, and fed back to the controller for synchronization. The user interface comprises the Stewart mechanism joystick, potentiometers, EM tracker, and a controller, offering intuitive control for precise soft robot motion, enhancing surgical precision in minimally invasive procedures.

Academic department under which the project should be listed

SPCEET - Robotics and Mechatronics Engineering

Primary Investigator (PI) Name

Amir Ali Amiri Moghadam

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Development of Intuitive Mechanism for Position Control of Soft Robot

This study presents the development of a master/slave system utilizing a twin Stewart mechanism as a specialized joystick with 6 Degrees of Freedom (DOF). The aim is to create an intuitive and single-handedly controllable interface for surgeons, enabling precise manipulation of a soft robot's end-effector. The design process involves selecting the Stewart mechanism for its 6 DOF capability, determining its size based on the surgeon's hand motion range, and manufacturing it through 3D printing. Rotational potentiometers are integrated onto each leg for accurate displacement sensing, translating hand motion to passive leg movements, mapped to desired bending actions in the active links of the soft robot through calibration. An Electromagnetic (EM) tracker attached to the robot end-effector senses its position, mapped to bending deformation of robot legs via kinematics models, and fed back to the controller for synchronization. The user interface comprises the Stewart mechanism joystick, potentiometers, EM tracker, and a controller, offering intuitive control for precise soft robot motion, enhancing surgical precision in minimally invasive procedures.