Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics
 
 
 
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Contact

 

+44 (0)20 7594 0965t.nanayakkara Website CV

 
 
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Location

 

RCS1 M229Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Shiva,
author = {Shiva, A and Sadati, SH and Noh, Y and Fras, J and Ataka, A and Wurdemann, H and Hauser, H and Walker, I and Nanayakkara, DPT and Althoefer, K},
journal = {Soft Robotics},
title = {Elasticity vs hyperelasticity considerations in quasi-static modelling of a soft finger-like robotic appendage for real-time position and force estimation},
url = {http://hdl.handle.net/10044/1/65737},
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Variousmethodsbased on hyperelastic assumptions have been developedto address the mathematical complexities ofmodellingmotion and deformation of continuum manipulators. Here, wepropose a quasi-static approach for 3D modelling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact forces and the overall pose.Our model can incorporate external load at any arbitrary point on the body anddeliver positional and force propagation information along the entire backbone. In line with the proposed model, theeffectiveness ofelasticity vs.hyperelasticity assumptions(Neo-Hookean and Gent) are investigated and compared.Experiments are carried out with and without external load,andsimulations are validated across a range of Young’s moduli. Results show best conformity with Hooke’smodel for limited strains with about6% average normalized error of position;and a mean absolute error of less than 0.08N for force applied at the tip and on the body; demonstrating high accuracy in estimating the positionand the contact forces.
AU - Shiva,A
AU - Sadati,SH
AU - Noh,Y
AU - Fras,J
AU - Ataka,A
AU - Wurdemann,H
AU - Hauser,H
AU - Walker,I
AU - Nanayakkara,DPT
AU - Althoefer,K
SN - 2169-5172
TI - Elasticity vs hyperelasticity considerations in quasi-static modelling of a soft finger-like robotic appendage for real-time position and force estimation
T2 - Soft Robotics
UR - http://hdl.handle.net/10044/1/65737
ER -