Imperial College London
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DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
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Contact

 

e.franco11 Website CV

 
 
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Location

 

414BBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Treratanakulchai:2022:10.1109/IROS47612.2022.9981437,
author = {Treratanakulchai, S and Franco, E and Garriga, Casanovas A and Hu, M and Kassanos, P and Rodriguez, y Baena F},
doi = {10.1109/IROS47612.2022.9981437},
pages = {6944--6951},
publisher = {IEEE},
title = {Development of a 6 DOF soft robotic manipulator with integrated sensing Skin},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981437},
year = {2022}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper presents a new 6 DOF soft roboticmanipulator intended for colorectal surgery. The manipulator,based on a novel design that employs an inextensible tube tolimit axial extension, is shown to maximize the force exertedat its tip and the bending angle, the latter being measuredwith a soft sensing skin. Manufacturing of the prototypeis achieved with a lost-wax silicone-casting technique. Thekinematic model of the manipulator, its workspace, and itsmanipulability are discussed. The prototype is evaluated withextensive experiments, including pressure-deflection measure-ment with and without tip load, and lateral force measurementswith and without the soft sensing skin to assess hysteresis. Theexperimental results indicate that the prototype fulfils the keydesign requirements for colorectal surgery: (i) it can generatesufficient force to perform a range of laparoscopic tasks; (ii) theworkspace is commensurate with the dimensions of the largeintestine; (iii) the soft sensing skin only results in a marginalreduction of the maximum tip rotation within the range ofpressures and external loads relevant for the chosen application.
AU  - Treratanakulchai,S
AU  - Franco,E
AU  - Garriga,Casanovas A
AU  - Hu,M
AU  - Kassanos,P
AU  - Rodriguez,y Baena F
DO  - 10.1109/IROS47612.2022.9981437
EP  - 6951
PB  - IEEE
PY  - 2022///
SP  - 6944
TI  - Development of a 6 DOF soft robotic manipulator with integrated sensing Skin
UR  - http://dx.doi.org/10.1109/IROS47612.2022.9981437
UR  - https://ieeexplore.ieee.org/document/9981437
UR  - http://hdl.handle.net/10044/1/99434
ER  -
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