• Corpus ID: 49528844

Development of Miniaturized Pneumatic Artificial Muscle for Surgical Device

  title={Development of Miniaturized Pneumatic Artificial Muscle for Surgical Device},
  author={Shanthanu Chakravarthy and Ashitava Ghosal},
Robotic surgical tools used in minimally invasive surgeries (MIS) require reliable actuators for precise positioning and control. Miniature pneumatic artificial muscles (MPAM) appear most suited for actuating surgical devices because of their inert nature, high force to weight ratio and fast actuation. However, MPAMs are not readily available and pose considerable challenge in their design and control. In this regard, we develop a miniaturized air muscles with outer diameter of ~1.2 mm. The… 
Point-to-point positioning control of a pneumatic muscle actuated system using improved-PID control
Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas
Practical Control Strategy for Positioning Control of Pneumatic Artificial Muscles Driven Stage: Improved NCTF Control
The objective of this study is to improve the conventional NCTF controller by removing the actual velocity feedback to eliminate vibration problem, added an acceleration feedback compensator to the plant model, and a reference rate feedforward to solve low damping characteristic of the PAM mechanism simultaneously improve tracking following characteristic.


Control of pneumatic muscle actuators
Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, and simplicity are factors that
Electrostrictive polymer artificial muscle actuators
A simple model using linear elastic theory can predict EPAM actuator performance from mechanical and electrical material properties and load conditions, and an improved EPAM motor could produce greater specific power and specific torque than could electric motors.
A highly articulated robotic surgical system for minimally invasive surgery.
The CardioARM promises to enable deployment of a number of epicardium-based therapies through a subxiphoid approach and improvements in imaging techniques will likely facilitate increasingly complex procedures.
Measurement and modeling of McKibben pneumatic artificial muscles
Mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator, which contains an expanding tube surrounded by braided cords, and a linearized model of these properties for three different models is derived.
Static and dynamic characteristics of McKibben pneumatic artificial muscles
  • C. Chou, B. Hannaford
  • Engineering
    Proceedings of the 1994 IEEE International Conference on Robotics and Automation
  • 1994
The authors report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models of McKibben artificial muscle pneumatic actuator.
System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery
A novel design and preliminary kinematic analysis of an Insertable Robotic Effector Platform (IREP) for Single Port Access (SPA) Surgery and the overall control system hierarchy for tele-manipulation using the IREP robot is presented.
Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope
An antagonistic transformation control scheme using electric resistance feedback is proposed and is verified by several experiments, which reduces the open-loop hysteresis of an SMA actuator and improves greatly its robustness against heat disturbance due to changes in the cooling condition.
Analytical modeling of a segmented unimorph actuator using electrostrictive P(VDF-TrFE) copolymer
An analytical model is developed for a segmented unimorph actuator consisting of electrostrictive P(VDF-TrFE) copolymer. The segmented actuator consists of individually controlled segments of the
An Active Tubular Polyarticulated Micro-System for Flexible Endoscope
This paper describes an original active steering device for endoscopes and boroscopes based on a tubular hyper-redundant mechanism that is integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment.
Biologically inspired robots : snake-like locomotors and manipulators
The locomotive dynamics of the Active Cord Mechanism (creeping dynamics) the morphology of creeping movements the kinematics of regular creeping motion adaptive functions of creeping motion creeping