SG10201801270UA - Apparatus and methods for enabling determination of a shape of at least aportion of a continuum robot - Google Patents

Apparatus and methods for enabling determination of a shape of at least aportion of a continuum robot

Info

Publication number
SG10201801270UA
SG10201801270UA SG10201801270UA SG10201801270UA SG10201801270UA SG 10201801270U A SG10201801270U A SG 10201801270UA SG 10201801270U A SG10201801270U A SG 10201801270UA SG 10201801270U A SG10201801270U A SG 10201801270UA SG 10201801270U A SG10201801270U A SG 10201801270UA
Authority
SG
Singapore
Prior art keywords
shape
continuum robot
methods
enabling determination
aportion
Prior art date
Application number
SG10201801270UA
Inventor
Amir Rabani
Troncoso David Alatorre
Original Assignee
Rolls Royce Plc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rolls Royce Plc filed Critical Rolls Royce Plc
Publication of SG10201801270UA publication Critical patent/SG10201801270UA/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Manipulator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

5 APPARATUS AND METHODS FOR ENABLING DETERMINATION OF A SHAPE OF AT LEAST A PORTION OF A CONTINUUM ROBOT Apparatus for enabling determination of a shape of at least a portion of a continuum robot, the apparatus comprising: a flexible cover defining a first end, a 10 second end opposite to the first end, and a cavity for receiving at least a portion of a continuum robot therein; and a first elastic strain sensor coupled to the flexible cover and being configured to provide a first output signal associated with movement of the flexible cover. 15 (Fig. 1)
SG10201801270UA 2017-03-09 2018-02-14 Apparatus and methods for enabling determination of a shape of at least aportion of a continuum robot SG10201801270UA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1703757.3A GB2560355A (en) 2017-03-09 2017-03-09 Apparatus and methods for enabling determination of a shape of at least a portion of a continuum robot

Publications (1)

Publication Number Publication Date
SG10201801270UA true SG10201801270UA (en) 2018-10-30

Family

ID=58605552

Family Applications (1)

Application Number Title Priority Date Filing Date
SG10201801270UA SG10201801270UA (en) 2017-03-09 2018-02-14 Apparatus and methods for enabling determination of a shape of at least aportion of a continuum robot

Country Status (4)

Country Link
US (1) US20180264643A1 (en)
EP (1) EP3372352A1 (en)
GB (1) GB2560355A (en)
SG (1) SG10201801270UA (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3576596A4 (en) 2016-12-02 2021-01-06 Vanderbilt University Steerable endoscope with continuum manipulator
US10967504B2 (en) * 2017-09-13 2021-04-06 Vanderbilt University Continuum robots with multi-scale motion through equilibrium modulation
CN113899300B (en) * 2020-07-06 2023-08-01 哈尔滨工业大学（深圳） High-sensitivity liquid metal strain sensor and intelligent device
CN114619457B (en) * 2022-03-23 2023-08-01 东南大学 Double-airway bionic snail soft robot

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8224485B2 (en) * 2006-05-24 2012-07-17 Titan Medical Inc. Snaking robotic arm with movable shapers
CN102196761B (en) * 2008-10-28 2014-03-12 奥林巴斯医疗株式会社 Medical device
US9693707B2 (en) * 2011-01-28 2017-07-04 Koninklijke Philips N.V. Optical shape sensing fiber for tip and shape characterization of medical instruments
KR102046377B1 (en) * 2011-09-24 2019-11-19 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Artificial skin and elastic strain sensor
WO2015188117A1 (en) * 2014-06-06 2015-12-10 President And Fellows Of Harvard College Stretchable conductive composites for use in soft devices
EP3183099B1 (en) * 2014-08-22 2023-03-22 President and Fellows of Harvard College Soft robotic device

Also Published As

Publication number Publication date
EP3372352A1 (en) 2018-09-12
GB2560355A (en) 2018-09-12
US20180264643A1 (en) 2018-09-20
GB201703757D0 (en) 2017-04-26

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