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Arnau Garriga-Casanovas

4 accepted papers

2024

Hybrid Manipulator With Force Estimation for Lower Gastrointestinal Interventions

Fung Flora Leung, Korn Borvorntanajanya, Kaiwen Chen, Emilia Zari, Arnau Garriga-Casanovas, Enrico Franco +3
RA-L 2024

This letter introduces a novel hybrid manipulator composed of two pneumatically-actuated soft segments and a tendon-driven continuum segment, connected in series. The soft segments enhance the mobility of the tendon-driven manipulator, enabling functionalities such as triangulation while maintaining

Cited by 7Source ↗Scholar ↗
2023

Discrete-time model based control of soft manipulator with FBG sensing

Enrico Franco, Ayhan Aktas, Shen Treratanakulchai, Arnau Garriga-Casanovas, Abdulhamit Donder, Ferdinando Rodriguez y Baena
ICRA 2023poster

In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings. A control algorithm is designed with a discrete-time energy shaping approach which is extended to account for control-related lag…

Cited by 3Source ↗Scholar ↗
2022

Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin

Shen Treratanakulchai, Enrico Franco, Arnau Garriga-Casanovas, Hu Minghao, Panagiotis Kassanos, Ferdinando Rodriguez y Baena
IROS 2022poster

This paper presents a new 6 DOF soft robotic manipulator intended for colorectal surgery. The manipulator, based on a novel design that employs an inextensible tube to limit axial extension, is shown to maximize the force exerted at its tip and the bending angle, the latter being measured with a sof…

Cited by 19Source ↗Scholar ↗
2016

Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles

Fangde Liu, Arnau Garriga-Casanovas, Riccardo Secoli, Ferdinando Rodriguez y Baena
RA-L 2016

Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgica

Cited by 35Source ↗Scholar ↗