Design and Control of a Novel Multi-state Compliant Safe Joint for Robotic Surgery
Refereed conference paper presented and published in conference proceedings


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AbstractIn this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a pre-defined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When the end-effector of a surgical robot actuated by the compliant safe joints collides with patient's body, the compliance of the joints will protect the patient by absorbing part of the collision energy. Because of the system's special mechanical structure, the control methods should be different when it works under different states. We propose a simple algorithm to choose control methods so that the system can work both under rigid and flexible states with different controllers. We have built a prototype to validate the design and the controller.
All Author(s) ListWang ZR, Li P, Navarro-Alarcon D, Yip HM, Liu YH, Lin WY, Li LY
Name of ConferenceIEEE International Conference on Robotics and Automation (ICRA)
Start Date of Conference26/05/2015
End Date of Conference30/05/2015
Place of ConferenceSeattle
Country/Region of ConferenceUnited States of America
Year2015
Month1
Day1
PublisherIEEE COMPUTER SOC
Pages1023 - 1028
eISBN978-1-4799-6923-4
ISSN1050-4729
LanguagesEnglish-United Kingdom
Web of Science Subject CategoriesAutomation & Control Systems; Computer Science; Computer Science, Artificial Intelligence; Engineering; Engineering, Electrical & Electronic; Robotics

Last updated on 2021-22-01 at 01:09