A Novel Layer Jamming Mechanism with Tunable Stiffness Capability for Minimally Invasive Surgery
2013 (Engelska)Ingår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 29, nr 4, s. 1031-1042Artikel i tidskrift (Refereegranskat) Published
Abstract [en]
This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally. © IEEE
Ort, förlag, år, upplaga, sidor
Piscataway, N.J.: IEEE Press, 2013. Vol. 29, nr 4, s. 1031-1042
Nyckelord [en]
Layer jamming, minimally invasive surgery (MIS), snake-like manipulator, tunable stiffness
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20611DOI: 10.1109/TRO.2013.2256313ISI: 000322836600017Scopus ID: 2-s2.0-84882450817OAI: oai:DiVA.org:hh-20611DiVA, id: diva2:585329
2013-01-092013-01-092018-03-22Bibliografiskt granskad