A 4-DOF flexible continuum robot using a spring backbone

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus,...

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Bibliographic Details
Published in2009 International Conference on Mechatronics and Automation pp. 1249 - 1254
Main Authors Hyun-Soo Yoon, Byung-Ju Yi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
Continuum
Engine cylinders
Humans
Kinematics
Medical robotics
Robotics and automation
Robots
Safety
Spine
Spring backbone
Springs
Wires
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ISBN1424426928
9781424426928
ISSN2152-7431
DOI10.1109/ICMA.2009.5246612

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Summary:This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with the human body, this device can ensure safety. In addition, the proposed mechanism has one kinematic redundancy in the configuration space and thus several motion planning algorithms can be exploited. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through experiment.
ISBN:1424426928
9781424426928
ISSN:2152-7431
DOI:10.1109/ICMA.2009.5246612