Shen Treratanakulchai — accepted AI-conference papers

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 3 Source ↗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 19 Source ↗Scholar ↗

2019

A Rolling-Tip Flexible Instrument for Minimally Invasive Surgery

Andreas Schmitz, Shen Treratanakulchai, Pierre Berthet-Rayne, Guang-Zhong Yang

ICRA 2019poster

Snake-like robots are commonly used in Minimally Invasive Surgery as they are able to reach areas deep inside the human body. These robots have instruments that are deployed out of the robot's head and controlled via tendons, which connect the instrument to motors at the proximal end. In most curren…

Cited by 28 Source ↗Scholar ↗