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Interleaved continuum-rigid manipulation approach: Development and functional evaluation of a clinical scale manipulator | IEEE Conference Publication | IEEE Xplore

Interleaved continuum-rigid manipulation approach: Development and functional evaluation of a clinical scale manipulator


Abstract:

A new manipulation approach, referred to as interleaved continuum-rigid manipulation, which combines inherently safe, flexible actuated segments with more precise embedde...Show More

Abstract:

A new manipulation approach, referred to as interleaved continuum-rigid manipulation, which combines inherently safe, flexible actuated segments with more precise embedded rigid-link joints is described. The redundantly actuated manipulator possesses the safety characteristics inherent in flexible segment devices while gaining some of the performance gains possible with rigid-link joint systems. A demonstration prototype was developed, the purpose of which was to explore the design space as well as demonstrate the feasibility of the approach in a clinically-relevant form. The overall design is described along with performance data evaluating its functionality.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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