Lloyd, P, Thomas, TL, Venkiteswaran, VK et al. (4 more authors) (2023) A Magnetically-Actuated Coiling Soft Robot with Variable Stiffness. IEEE Robotics and Automation Letters, 8 (6). pp. 3262-3269. ISSN 2377-3766
Abstract
Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to the minimally invasive surgical community, potentially allowing navigation to regions of the anatomy previously deemed inaccessible. Due to the low forces involved, one particular challenge is functionalizing such magnetic devices. To address this limitation we introduce a proof-of-concept variable stiffness robot controlled by remote magnetic actuation, capable of grasping objects of varying sizes. We demonstrate a controlled and reversible high deformation coiling action induced via a transient homogeneous magnetic field and a synchronized sliding nitinol backbone. Our soft magnetic coiling grasper is visually tracked and controlled during three experimental demonstrations. We exhibit a maximum coiling deformation angle of 400◦.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 IEEE. This is an author produced version of an article published in IEEE Robotics and Automation Letters, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Grasping; Magnetic Continuum Robots; Soft Robots; Surgical Robotics; Magnetic Actuation; Continuum Manipulators. |
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 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 EPSRC (Engineering and Physical Sciences Research Council) EP/V009818/1 EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 05 Apr 2023 11:48 |
Last Modified: | 26 Apr 2023 10:43 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2023.3264770 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:197919 |
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