Cargando…
Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor
Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation al...
Autores principales: | , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8521199/ https://www.ncbi.nlm.nih.gov/pubmed/34671648 http://dx.doi.org/10.3389/frobt.2021.734033 |
_version_ | 1784584851783942144 |
---|---|
author | Donat, Heiko Gu, Jiecong Steil, Jochen J. |
author_facet | Donat, Heiko Gu, Jiecong Steil, Jochen J. |
author_sort | Donat, Heiko |
collection | PubMed |
description | Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation algorithm for concentric tube continuum robots based on the force-torque information measured at the tubes’ basis. It extends a shape estimation algorithm for elastic rods based on discrete Kirchhoff rod theory. For simplicity and efficiency of calculation, we combine it with a model under piece-wise constant curvature assumption, in which we model a concentric tube continuum robot as a combination of segments of planar constant curvatures lying on different equilibrium planes. We evaluate our approach for a single and two combined additively manufactured tubes and achieve an estimation frequency of 333 Hz for two combined tubes with a mean deviation along the backbone of the tubes of 1.91–5.22 mm. |
format | Online Article Text |
id | pubmed-8521199 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-85211992021-10-19 Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor Donat, Heiko Gu, Jiecong Steil, Jochen J. Front Robot AI Robotics and AI Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation algorithm for concentric tube continuum robots based on the force-torque information measured at the tubes’ basis. It extends a shape estimation algorithm for elastic rods based on discrete Kirchhoff rod theory. For simplicity and efficiency of calculation, we combine it with a model under piece-wise constant curvature assumption, in which we model a concentric tube continuum robot as a combination of segments of planar constant curvatures lying on different equilibrium planes. We evaluate our approach for a single and two combined additively manufactured tubes and achieve an estimation frequency of 333 Hz for two combined tubes with a mean deviation along the backbone of the tubes of 1.91–5.22 mm. Frontiers Media S.A. 2021-10-04 /pmc/articles/PMC8521199/ /pubmed/34671648 http://dx.doi.org/10.3389/frobt.2021.734033 Text en Copyright © 2021 Donat, Gu and Steil. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Donat, Heiko Gu, Jiecong Steil, Jochen J. Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title_full | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title_fullStr | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title_full_unstemmed | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title_short | Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor |
title_sort | real-time shape estimation for concentric tube continuum robots with a single force/torque sensor |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8521199/ https://www.ncbi.nlm.nih.gov/pubmed/34671648 http://dx.doi.org/10.3389/frobt.2021.734033 |
work_keys_str_mv | AT donatheiko realtimeshapeestimationforconcentrictubecontinuumrobotswithasingleforcetorquesensor AT gujiecong realtimeshapeestimationforconcentrictubecontinuumrobotswithasingleforcetorquesensor AT steiljochenj realtimeshapeestimationforconcentrictubecontinuumrobotswithasingleforcetorquesensor |