Continuum robots

A continuum robot 101 comprises a first segment 12 defining a first end 24 and a second end 26, the first segment 12 including a first actuator 18 coupled to the second end 26 and configured to control movement of the second end 26 relative to the first end 24; and a first elastic strain sensor 20 c...

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Bibliographic Details
Main Authors Amir Rabani, David Alatorre Troncoso
Format Patent
LanguageEnglish
Published 12.09.2018
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
MEASURING
MEASURING ANGLES
MEASURING AREAS
MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE
MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
TESTING
TRANSPORTING
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Summary:A continuum robot 101 comprises a first segment 12 defining a first end 24 and a second end 26, the first segment 12 including a first actuator 18 coupled to the second end 26 and configured to control movement of the second end 26 relative to the first end 24; and a first elastic strain sensor 20 coupled to the first segment 12 and positioned between the first end 24 and the second end 26, the first elastic strain sensor 20 being configured to provide a first output signal associated with the movement of the second end relative 26 to the first end 24. The first output signal may be used to determine the shape of the first segment 12. The first elastic strain sensor 20 may comprise a conductive elastic material (36 fig. 2) or a non-conductive elastic vessel (38 fig. 3) defining a cavity (40 fig. 3) within which is positioned a conductive material such as a liquid (42 fig. 3) and/or fibres (44 fig. 4). The first elastic strain sensor 20 may comprise a non-conductive elastic member (50 fig. 5) between two conductive elastic members (46, 48 fig. 5).
Bibliography:Application Number: GB20170003755