ICRA 2020poster7 citations
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation
J.R. Jurado Realpe, G. Aiche, S. Abdelaziz, P. Poignet
Abstract
This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is established, and a control methodology is proposed. A prototype of the robot is developed and assessed experimentally. The position tracking is evaluated using a 6-DOF magnetic tracker sensor showing a root mean square error less than 0.8° in both directions of the needle guide.
BibTeX
@inproceedings{icra2020_asynchronousandd,
title = {Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation},
author = {J.R. Jurado Realpe and G. Aiche and S. Abdelaziz and P. Poignet},
booktitle = {ICRA 2020},
year = {2020}
}