Research continuum2004 - Revision history

Rii at 15:43, 6 October 2014

2014-10-06T15:43:24Z

← Older revision		Revision as of 15:43, 6 October 2014
Line 16:		Line 16:
	Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.		Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

-	[[File: ~~Research_continuum2004_3~~.gif\|thumb\|360px\|One segment simulated in MATLAB]]	+	[[File: Research_continuum2004_3_.gif\|thumb\|360px\|One segment simulated in MATLAB]]

	According to the modeling framework, shape of the continuum segment shown assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics are derived.		According to the modeling framework, shape of the continuum segment shown assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics are derived.

Rii at 15:40, 6 October 2014

2014-10-06T15:40:41Z

← Older revision		Revision as of 15:40, 6 October 2014
Line 10:		Line 10:
	This continuum structures in this research were introduced by Simaan ''et al.'' (Simaan, Taylor ''et al.'' 2004; Simaan, Taylor ''et al.'' 2004). They consist of one or more flexible segments. Each segment consists of multiple super-elastic NiTi components (tubes or rods) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.		This continuum structures in this research were introduced by Simaan ''et al.'' (Simaan, Taylor ''et al.'' 2004; Simaan, Taylor ''et al.'' 2004). They consist of one or more flexible segments. Each segment consists of multiple super-elastic NiTi components (tubes or rods) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

-	In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a ~~subsegment~~. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.	+	In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a sub-segment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

-	[[File: Research_continuum2004_2.jpg\|thumb\|300px\|Structure of one continuum segment]]	+	[[File: Research_continuum2004_2.jpg\|thumb\|300px\|left\|Structure of one continuum segment]]

	Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.		Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

-	According to the modeling framework, shape of the continuum segment shown assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics ~~will be presented~~.	+	[[File: Research_continuum2004_3.gif\|thumb\|360px\|One segment simulated in MATLAB]]
		+
		+	According to the modeling framework, shape of the continuum segment shown assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics are derived.
	* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.		* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
	* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.		* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
	* Load can be re-distributed among the backbones. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads are redistrubited.		* Load can be re-distributed among the backbones. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads are redistrubited.

-	In the following video clips, ~~one segment and~~ a ~~3-segment arm are simulated in MATLAB. By changing the lengths of corresponding backbones, the segments bend up to 90°. A~~ 2-segment arm can be tele-operated, whereas a 3-segment arm with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed in the publication session.	+	In the following video clips, a 2-segment arm can be tele-operated, whereas a 3-segment arm with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed in the publication session.

	{\|border="1" align="center" cellpadding="5"		{\|border="1" align="center" cellpadding="5"
-	~~\|align="center"\|'''One segment simulated in MATLAB'''~~
-	~~\|align="center"\|'''A 3-segment arm in siumlation'''~~
-	\|-
-	~~\|[[Image: Research_continuum2004_3.gif]]~~
-	~~\|[[Image: Research_continuum2004_4.gif]]~~
-	\|-
	\|align="center"\|'''A 2-segment arm under teleoperation'''		\|align="center"\|'''A 2-segment arm under teleoperation'''
	\|align="center"\|'''A 3-segment arm in palpation'''		\|align="center"\|'''A 3-segment arm in palpation'''

Rii at 13:49, 6 October 2014

2014-10-06T13:49:39Z

← Older revision		Revision as of 13:49, 6 October 2014
Line 4:		Line 4:
	January 2005 to August 2009		January 2005 to August 2009

-	[[image:note_bulb.png\|text-bottom\|12px]] This work ~~was done~~ when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].	+	[[image:note_bulb.png\|text-bottom\|12px]] This work started when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

	[[File: Research_continuum2004_1.jpg\|thumb\|380px\|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]		[[File: Research_continuum2004_1.jpg\|thumb\|380px\|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

-	This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple ~~superelastic~~ NiTi components (tubes or ~~beams~~) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.	+	This continuum structures in this research were introduced by Simaan ''et al.'' (Simaan, Taylor ''et al.'' 2004; Simaan, Taylor ''et al.'' 2004). They consist of one or more flexible segments. Each segment consists of multiple super-elastic NiTi components (tubes or rods) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

	In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.		In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

-	[[File: Research_continuum2004_2.jpg\|thumb\|~~240px~~\|Structure of one continuum segment]]	+	[[File: Research_continuum2004_2.jpg\|thumb\|300px\|Structure of one continuum segment]]

	Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.		Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

-	According to the modeling framework ~~presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005)~~, shape of the continuum segment shown ~~in Figure 2.1~~ assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.	+	According to the modeling framework, shape of the continuum segment shown assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
	* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.		* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
	* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.		* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
-	* Load can be re-distributed among the backbones ~~without shape variation~~. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.	+	* Load can be re-distributed among the backbones. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads are redistrubited.

-	In the following video clips, an one-segment ~~continuum robot is~~ simulated in MATLAB. By changing the lengths of corresponding backbones, the ~~robot will~~ bend to ~~the side~~. ~~On the right~~, a ~~three~~-segment ~~continuum robot~~ with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed ~~under~~ the publication session.	+	In the following video clips, one segment and a 3-segment arm are simulated in MATLAB. By changing the lengths of corresponding backbones, the segments bend up to 90°. A 2-segment arm can be tele-operated, whereas a 3-segment arm with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed in the publication session.

	{\|border="1" align="center" cellpadding="5"		{\|border="1" align="center" cellpadding="5"
	\|align="center"\|'''One segment simulated in MATLAB'''		\|align="center"\|'''One segment simulated in MATLAB'''
		+	\|align="center"\|'''A 3-segment arm in siumlation'''
		+	\|-
		+	\|[[Image: Research_continuum2004_3.gif]]
		+	\|[[Image: Research_continuum2004_4.gif]]
		+	\|-
	\|align="center"\|'''A 2-segment arm under teleoperation'''		\|align="center"\|'''A 2-segment arm under teleoperation'''
	\|align="center"\|'''A 3-segment arm in palpation'''		\|align="center"\|'''A 3-segment arm in palpation'''
	\|-		\|-
-	\|[[Image: ~~Research_Prosthesis2012_4~~.~~jpg‎\|480px~~]]	+	\|[[Image: Research_continuum2004_5.gif]]
-	\|[[Image: ~~Research_Prosthesis2012_4~~.~~jpg‎\|480px]]~~	+	\|[[Image: Research_continuum2004_6.gif]]
-	~~\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px~~]]	+
	\|}		\|}

Rii at 11:14, 6 October 2014

2014-10-06T11:14:34Z

← Older revision		Revision as of 11:14, 6 October 2014
Line 22:		Line 22:

	In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.		In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
-	{\|~~style~~="~~margin: 1em auto 1em auto;~~"	+
-	\|align="center"\|'''~~An one-~~segment ~~continuum robot simulatied~~ in MATLAB'''	+	{\|border="1" align="center" cellpadding="5"
-	\|align="center"\|'''A ~~three~~-segment ~~continuum robot~~ in palpation'''	+	\|align="center"\|'''One segment simulated in MATLAB'''
		+	\|align="center"\|'''A 2-segment arm under teleoperation'''
		+	\|align="center"\|'''A 3-segment arm in palpation'''
	\|-		\|-
-	\|~~<videoflash type="youku">XMjExNDQzNDQ0~~\|~~400\|338</videoflash>~~	+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
-	\|~~<videoflash type="youku">XOTUxODMyMjA~~\|~~400~~\|~~338</videoflash>~~	+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
		+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
	\|}		\|}

Rii at 12:51, 21 February 2013

2013-02-21T12:51:32Z

← Older revision		Revision as of 12:51, 21 February 2013
Line 22:		Line 22:

	In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.		In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
-	{\|	+	{\|style="margin: 1em auto 1em auto;"
	\|align="center"\|'''An one-segment continuum robot simulatied in MATLAB'''		\|align="center"\|'''An one-segment continuum robot simulatied in MATLAB'''
	\|align="center"\|'''A three-segment continuum robot in palpation'''		\|align="center"\|'''A three-segment continuum robot in palpation'''

Roiilab@gmail.com at 07:38, 3 October 2010

2010-10-03T07:38:51Z

← Older revision		Revision as of 07:38, 3 October 2010
Line 26:		Line 26:
	\|align="center"\|'''A three-segment continuum robot in palpation'''		\|align="center"\|'''A three-segment continuum robot in palpation'''
	\|-		\|-
-	\|<videoflash type="youku">XMjExNDQzNDQ0</videoflash>	+	\|<videoflash type="youku">XMjExNDQzNDQ0\|400\|338</videoflash>
-	\|<videoflash type="youku">XOTUxODMyMjA</videoflash>	+	\|<videoflash type="youku">XOTUxODMyMjA\|400\|338</videoflash>
	\|}		\|}

Roiilab@gmail.com at 05:28, 3 October 2010

2010-10-03T05:28:06Z

← Older revision		Revision as of 05:28, 3 October 2010
Line 21:		Line 21:
	* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.		* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

-	~~<br/>~~	+	In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
	{\|		{\|
	\|align="center"\|'''An one-segment continuum robot simulatied in MATLAB'''		\|align="center"\|'''An one-segment continuum robot simulatied in MATLAB'''

Roiilab@gmail.com at 05:23, 3 October 2010

2010-10-03T05:23:15Z

← Older revision		Revision as of 05:23, 3 October 2010
Line 12:		Line 12:
	In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.		In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

-	[[File: Research_continuum2004_2.jpg\|thumb\|~~200px~~\|Structure of one continuum segment]]	+	[[File: Research_continuum2004_2.jpg\|thumb\|240px\|Structure of one continuum segment]]

	Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.		Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.
Line 21:		Line 21:
	* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.		* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

-		+	<br/>
-	'''A three-segment continuum robot ~~with intrinsic force sensing capability~~'''	+	{\|
-	<videoflash type="youku">XOTUxODMyMjA</videoflash>	+	\|align="center"\|'''An one-segment continuum robot simulatied in MATLAB'''
		+	\|align="center"\|'''A three-segment continuum robot in palpation'''
		+	\|-
		+	\|<videoflash type="youku">XMjExNDQzNDQ0</videoflash>
		+	\|<videoflash type="youku">XOTUxODMyMjA</videoflash>
		+	\|}

Roiilab@gmail.com at 03:33, 3 October 2010

2010-10-03T03:33:24Z

← Older revision		Revision as of 03:33, 3 October 2010
Line 21:		Line 21:
	* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.		* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

-	<~~flvplayer width~~="~~320" height="180~~">~~A.flv~~</~~flvplayer~~>	+
		+	'''A three-segment continuum robot with intrinsic force sensing capability'''
		+	<videoflash type="youku">XOTUxODMyMjA</videoflash>

Roiilab@gmail.com at 13:25, 2 October 2010

2010-10-02T13:25:32Z

← Older revision		Revision as of 13:25, 2 October 2010
Line 21:		Line 21:
	* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.		* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

-	<~~videoflash type~~="~~googlevideo~~">~~1811233136844420765~~</~~videoflash~~>	+	<flvplayer width="320" height="180">A.flv</flvplayer>

← Older revision		Revision as of 11:14, 6 October 2014
Line 22:		Line 22:

	In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.		In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
-	{\|~~style~~="~~margin: 1em auto 1em auto;~~"	+
-	\|align="center"\|'''~~An one-~~segment ~~continuum robot simulatied~~ in MATLAB'''	+	{\|border="1" align="center" cellpadding="5"
-	\|align="center"\|'''A ~~three~~-segment ~~continuum robot~~ in palpation'''	+	\|align="center"\|'''One segment simulated in MATLAB'''
		+	\|align="center"\|'''A 2-segment arm under teleoperation'''
		+	\|align="center"\|'''A 3-segment arm in palpation'''
	\|-		\|-
-	\|~~<videoflash type="youku">XMjExNDQzNDQ0~~\|~~400\|338</videoflash>~~	+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
-	\|~~<videoflash type="youku">XOTUxODMyMjA~~\|~~400~~\|~~338</videoflash>~~	+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
		+	\|[[Image: Research_Prosthesis2012_4.jpg‎\|480px]]
	\|}		\|}