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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Jurado Realpe 1 Guillaume Aiche 1 Salih Abdelaziz 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is established, and a control methodology is proposed. A prototype of the robot is developed and assessed experimentally. The position tracking is evaluated using a 6-DOF magnetic tracker sensor showing a root mean square error less than 0.8 • in both directions of the needle guide.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522
Contributor : Salih Abdelaziz <>
Submitted on : Friday, February 12, 2021 - 10:44:47 PM
Last modification on : Monday, March 29, 2021 - 2:46:34 PM
Long-term archiving on: : Friday, May 14, 2021 - 9:34:33 AM

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Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet. Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation. IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩. ⟨lirmm-03140522⟩

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