Matches in SemOpenAlex for { <https://semopenalex.org/work/W2177727844> ?p ?o ?g. }
Showing items 1 to 77 of
77
with 100 items per page.
- W2177727844 endingPage "163" @default.
- W2177727844 startingPage "152" @default.
- W2177727844 abstract "Soft continuum robots are highly deformable and manoeuvrable manipulators, capable of navigating through confined space and interacting safely with their surrounding environment, making them ideal for minimally invasive surgical applications. A crucial requirement of a soft robot is to control its overall stiffness efficiently, in order to execute the necessary surgical task in an unstructured environment. This paper presents a comparative study detailing the stiffness characterization of two soft manipulator designs and the formulation of a dynamic stiffness matrix for the purpose of disturbance rejection and stiffness control for precise tip positioning. An empirical approach is used to accurately describe the stiffness characteristics along the length of the manipulator and the derived stiffness matrix is applied in real-time control to reject disturbances. Further, the capability of the two types of soft robots to reject disturbances using the dynamic control technique is tested and compared. The results presented in this paper provide new insights into controlling the stiffness of soft continuum robots for minimally invasive surgical applications." @default.
- W2177727844 created "2016-06-24" @default.
- W2177727844 creator A5000304115 @default.
- W2177727844 creator A5010436661 @default.
- W2177727844 creator A5014123729 @default.
- W2177727844 creator A5015026997 @default.
- W2177727844 creator A5023418532 @default.
- W2177727844 creator A5026566956 @default.
- W2177727844 creator A5082998349 @default.
- W2177727844 date "2015-01-01" @default.
- W2177727844 modified "2023-09-30" @default.
- W2177727844 title "Tuneable Stiffness Design of Soft Continuum Manipulator" @default.
- W2177727844 cites W1966705057 @default.
- W2177727844 cites W1990603682 @default.
- W2177727844 cites W1997480144 @default.
- W2177727844 cites W2011020447 @default.
- W2177727844 cites W2015106839 @default.
- W2177727844 cites W2036723211 @default.
- W2177727844 cites W2087104703 @default.
- W2177727844 cites W2102491248 @default.
- W2177727844 cites W2109643917 @default.
- W2177727844 cites W2124992704 @default.
- W2177727844 cites W2133231729 @default.
- W2177727844 cites W2156199850 @default.
- W2177727844 cites W2162558094 @default.
- W2177727844 cites W87991497 @default.
- W2177727844 doi "https://doi.org/10.1007/978-3-319-22873-0_14" @default.
- W2177727844 hasPublicationYear "2015" @default.
- W2177727844 type Work @default.
- W2177727844 sameAs 2177727844 @default.
- W2177727844 citedByCount "3" @default.
- W2177727844 countsByYear W21777278442019 @default.
- W2177727844 countsByYear W21777278442020 @default.
- W2177727844 countsByYear W21777278442022 @default.
- W2177727844 crossrefType "book-chapter" @default.
- W2177727844 hasAuthorship W2177727844A5000304115 @default.
- W2177727844 hasAuthorship W2177727844A5010436661 @default.
- W2177727844 hasAuthorship W2177727844A5014123729 @default.
- W2177727844 hasAuthorship W2177727844A5015026997 @default.
- W2177727844 hasAuthorship W2177727844A5023418532 @default.
- W2177727844 hasAuthorship W2177727844A5026566956 @default.
- W2177727844 hasAuthorship W2177727844A5082998349 @default.
- W2177727844 hasConcept C127413603 @default.
- W2177727844 hasConcept C154945302 @default.
- W2177727844 hasConcept C199639397 @default.
- W2177727844 hasConcept C2779372316 @default.
- W2177727844 hasConcept C2781347998 @default.
- W2177727844 hasConcept C41008148 @default.
- W2177727844 hasConcept C66938386 @default.
- W2177727844 hasConcept C90509273 @default.
- W2177727844 hasConceptScore W2177727844C127413603 @default.
- W2177727844 hasConceptScore W2177727844C154945302 @default.
- W2177727844 hasConceptScore W2177727844C199639397 @default.
- W2177727844 hasConceptScore W2177727844C2779372316 @default.
- W2177727844 hasConceptScore W2177727844C2781347998 @default.
- W2177727844 hasConceptScore W2177727844C41008148 @default.
- W2177727844 hasConceptScore W2177727844C66938386 @default.
- W2177727844 hasConceptScore W2177727844C90509273 @default.
- W2177727844 hasLocation W21777278441 @default.
- W2177727844 hasOpenAccess W2177727844 @default.
- W2177727844 hasPrimaryLocation W21777278441 @default.
- W2177727844 hasRelatedWork W1981486107 @default.
- W2177727844 hasRelatedWork W2009799966 @default.
- W2177727844 hasRelatedWork W2097383567 @default.
- W2177727844 hasRelatedWork W2151548787 @default.
- W2177727844 hasRelatedWork W2353085251 @default.
- W2177727844 hasRelatedWork W2384092584 @default.
- W2177727844 hasRelatedWork W2753439601 @default.
- W2177727844 hasRelatedWork W2999591896 @default.
- W2177727844 hasRelatedWork W3188409760 @default.
- W2177727844 hasRelatedWork W2170125332 @default.
- W2177727844 isParatext "false" @default.
- W2177727844 isRetracted "false" @default.
- W2177727844 magId "2177727844" @default.
- W2177727844 workType "book-chapter" @default.