Calò, S orcid.org/0000-0003-4696-7498, Chandler, JH orcid.org/0000-0001-9232-4966, Campisano, F et al. (2 more authors) (2020) A Compression Valve for Sanitary Control of Fluid-Driven Actuators. IEEE/ASME Transactions on Mechatronics, 25 (2). pp. 1005-1015. ISSN 1083-4435
Abstract
With significant research focused on integrating robotics into medical devices, sanitary control of pressurizing fluids in a precise, accurate, and customizable way is highly desirable. Current sanitary flow control methods include pinch valves which clamp the pressure line locally to restrict fluid flow; resulting in damage and variable flow characteristics over time. This article presents a sanitary compression valve based on an eccentric clamping mechanism. The proposed valve distributes clamping forces over a larger area, thereby reducing the plastic deformation and associated influence on flow characteristic. Using the proposed valve, significant reductions in plastic deformation (up to 96%) and flow-rate error (up to 98%) were found, when compared with a standard pinch valve. Additionally, an optimization strategy presents a method for improving linearity and resolution over the working range to suit specific control applications. The valve efficacy has been evaluated through controlled testing of a water jet-propelled low-cost endoscopic device. In this case, use of the optimized valve shows a reduction in the average orientation error and its variation, resulting in smoother movement of the endoscopic tip when compared to alternative wet and dry valve solutions. The presented valve offers a customizable solution for sanitary control of fluid-driven actuators.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Hydraulic/Pneumatic actuation; medical robotics; soft robotics; waterjet actuation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society wm150122 National Institute of Health - NIH (PHS) 6R01EB018992 EPSRC (Engineering and Physical Sciences Research Council) EP/P027938/1 NIHR National Inst Health Research 16/137/44 EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Dec 2019 13:16 |
Last Modified: | 05 Oct 2020 13:12 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TMECH.2019.2960308 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:154538 |