In:
at - Automatisierungstechnik, Walter de Gruyter GmbH, Vol. 71, No. 7 ( 2023-07-26), p. 554-561
Abstract:
Shape memory alloy-based flexible instruments have potential for enhancing the safety in minimally invasive surgery compared to passive rigid devices. We developed a data-driven polynomial model to estimate deflection of a 2D bending actuator using electrical resistance. The model accurately predicts deflections (mean error 〈 3.6 mm), but force sensing augmentation is required for unknown load cases. The model is specific to the tested actuator geometry, and future research should investigate multiple actuators and explore nonlinear modeling approaches.
Type of Medium:
Online Resource
ISSN:
0178-2312
,
2196-677X
DOI:
10.1515/auto-2023-0058
Language:
English
Publisher:
Walter de Gruyter GmbH
Publication Date:
2023
detail.hit.zdb_id:
629186-7
detail.hit.zdb_id:
2027287-X
SSG:
15,3
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