Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Shiva:2019:10.1089/soro.2018.0060,
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},
doi = {10.1089/soro.2018.0060},
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://dx.doi.org/10.1089/soro.2018.0060},
volume = {6},
year = {2019}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact force and overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed model, the effectiveness of elasticity versus hyperelasticity assumptions (neo-Hookean and Gent) is investigated and compared. Experiments are carried out with and without external load, and simulations are validated across a range of Young's moduli. Results show best conformity with Hooke's model for limited strains with about 6% average normalized error of position; and a mean absolute error of less than 0.08 N for force applied at the tip and on the body, demonstrating high accuracy in estimating the position and the contact force.
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
DO  - 10.1089/soro.2018.0060
PY  - 2019///
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://dx.doi.org/10.1089/soro.2018.0060
UR  - http://hdl.handle.net/10044/1/65737
VL  - 6
ER  -
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