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1、2011IEEEInternationalConferenceonRoboticsandAutomationShanghaiInternationalConferenceCenterMay9-13,2011,Shanghai,ChinaConfigurationandJointFeedbackforEnhancedPerformanceofMulti-SegmentContinuumRobotsAndreaBajo,RogerE.Goldman,andNabilSimaan*AbstractMulti-segmentcontinuumrobotsof
2、ferenhancedsafetyduringsurgeryduetotheirinherentpassivecompliance.However,theysufferpoorpositiontrackingperformanceduetoflexibilityoftheiractuationlines,structuralcompliance,andactuationcouplingeffectsbetweensegments.Theneedforcontrolmethodsaddressingaccuratetrackingformulti-se
3、gmentcontinuumrobotsismagnifiedbyincreasedprecisionrequirementsofsurgicalproceduresemployingthesestructures.Toaddressthisneed,thispaperproposesatieredcontrollerthatusesbothextrinsicandintrinsicsensoryinformationforimprovedperformanceofmulti-segmentcontinuumrobots.Thehighertiero
4、fthiscontrollerusesconfigurationspacefeedbackwhilethelowertierusesjointspacefeedbackandafeed-forwardtermobtainedwithactuationcompensationtechniques.WeprovethestabilityofthiscontrollerusingLyapunov’sdirectmethodandexperimentallyevaluateitsperformanceonathree-segmentmulti-backbon
5、econtinuumrobot.Resultsdemonstrateitsefficacyinenhancingregulationandtrackingperformance.Itisshownthatthecontrollermitigatestheeffectsofactuationcouplingbe-tweenrobot’ssub-segmentsanddecreasesphaselag.Theseresultssuggestthatthistieredcontrollerwillenhancetelemanipulationperform
6、anceofmulti-segmentcontinuumrobots.I.INTRODUCTIONInthepastdecade,continuumrobotsgainedpopularityFig.1.Theexperimentalsetupconsistofanine-axisactuationunit,ainthemedicalroboticscommunityfortheirdexterityand3-segmentcontinuumrobot,amagneticfieldgenerator,andfourmagneticinnatecomp
7、liance.Thesedevicesaddressagrowingneedtosensorsattachedtotherobot’sbase(0),theenddiskofthefirstsegment(1),theenddiskofthesecondsegment(2),androbot’send-effector(3)reachdeeperintothehumananatomywhileminimizingoreliminatingskinincisions.ThedevelopmentofnewsurgicalparadigmssuchasM
8、inimallyInvasiveSurgery(MIS)indeepsurgicalfieldsandNaturalOrifi
