Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism

Chloe Pogue, Priyanka Rao, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs, Eric Diller

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Citations (Scopus)

Abstract

Tendon-driven continuum robots show promise for use in surgical applications as they can assume complex configurations to navigate along tortuous paths. However, to achieve these complex robot shapes, multiple segments are required as each robot segment can bend only with a single constant curvature. To actuate these additional robot segments, multiple tendons must typically be added on-board the robot, complicating their integration, robot control, and actuation. This work presents a method of achieving two curvatures in a single tendon-driven continuum robot segment through use of a novel magnetic locking mechanism. Thus, the need for additional robot segments and actuating tendons is eliminated. The resulting two curvatures in a single segment are demonstrated in two and three dimensions. Furthermore, the maximum magnetic field required to actuate the locking mechanism for different robot bending angles is experimentally measured to be 6.1 mT. Additionally, the locking mechanism resists unintentional unlocking unless the robot assumes a 0° bending angle and a magnetic field of 18.1 mT is applied, conditions which are not typically reached during routine use of the system. Finally, addressable actuation of two locking mechanisms is achieved, demonstrating the capability of producing multiple curvatures in a single robot segment.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages472-479
Number of pages8
ISBN (Electronic)9781665479271
DOIs
Publication statusPublished - 2022
Event2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

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