Research Papers

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

[+] Author and Article Information
Federico Renda

Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: federico.renda@kustar.ac.ae

Matteo Cianchetti

The BioRobotics Institute,
Scuola Superiore Sant'Anna,
Pisa 56025, Italy
e-mail: matteo.cianchetti@sssup.it

Haider Abidi

The BioRobotics Institute,
Scuola Superiore Sant'Anna,
Pisa 56025, Italy
e-mail: syedhaiderjawad.abidi@sssup.it

Jorge Dias

Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: jorge.dias@kustar.ac.ae

Lakmal Seneviratne

Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: lakmal.seneviratne@kustar.ac.ae

1Corresponding author.

Manuscript received November 6, 2016; final manuscript received March 22, 2017; published online May 17, 2017. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 9(4), 041012 (May 17, 2017) (8 pages) Paper No: JMR-16-1344; doi: 10.1115/1.4036579 History: Received November 06, 2016; Revised March 22, 2017

A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly differentiated, and guidelines for the manipulable and force-closure conditions are developed. Finally, the model is validated through experiments using the soft manipulator for minimally invasive surgery STIFF-FLOP.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.


Webster, R. J. , and Jones, B. A. , 2010, “ Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review,” Int. J. Rob. Res., 29(13), pp. 1661–1683. [CrossRef]
Walker, I. D. , 2013, “ Continuous Backbone ‘Continuum’ Robot Manipulators,” ISRN Rob., 2013, pp. 1–19. [CrossRef]
Jones, B. A. , and Walker, I. D. , 2006, “ Kinematics for Multisection Continuum Robots,” IEEE Trans. Rob., 22(1), pp. 43–55. [CrossRef]
Neppalli, S. , Csencsits, M. A. , Jones, B. A. , and Walker, I. D. , 2009, “ Closed-Form Inverse Kinematics for Continuum Manipulators,” Adv. Rob., 23(15), pp. 2077–2091. [CrossRef]
Rucker, D. C. , and Webster, R. J. , 2011, “ Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading,” IEEE Trans. Rob., 27(6), pp. 1033–1044. [CrossRef]
Godage, I. S. , Medrano-Cerda, G. A. , Branson, D. T. , Guglielmino, E. , and Caldwell, D. G. , 2015, “ Dynamics for Variable Length Multisection Continuum Arms,” Int. J. Rob. Res., 35(6), pp. 695–722.
Camarillo, D. B. , Milne, C. F. , Carlson, C. R. , Zinn, M. R. , and Salisbury, J. K. , 2008, “ Mechanics Modeling of Tendon-Driven Continuum Manipulators,” IEEE Trans. Rob., 24(6), pp. 1262–1273. [CrossRef]
Polygerinos, P. , Wang, Z. , Overvelde, J. T. B. , Galloway, K. C. , Wood, R. J. , Bertoldi, K. , and Walsh, C. J. , 2015, “ Modeling of Soft Fiber-Reinforced Bending Actuators,” IEEE Trans. Rob., 31(3), pp. 778–789. [CrossRef]
Marchese, A. D. , and Rus, D. , 2015, “ Design, Kinematics, and Control of a Soft Spatial Fluidic Elastomer Manipulator,” Int. J. Rob. Res., 35(7), pp. 840–869.
Bajo, A. , and Simaan, N. , 2016, “ Hybrid Motion/Force Control of Multi-Backbone Continuum Robots,” Int. J. Rob. Res., 35(4), pp. 422–434. [CrossRef]
Renda, F. , Cacucciolo, V. , Dias, J. , and Seneviratne, L. , 2016, “ Discrete Cosserat Approach for Soft Robot Dynamics: A New Piece-Wise Constant Strain Model With Torsion and Shears,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, Oct. 9–14, pp. 5495–5502.
Brockett, R. W. , 1984, “ Robotic Manipulators and the Product of Exponentials Formula,” Mathematical Theory of Networks and Systems, Springer, Berlin, pp. 120–129.
Renda, F. , Giorelli, M. , Calisti, M. , Cianchetti, M. , and Laschi, C. , 2015, “ Dynamic Model of a Multibending Soft Robot Arm Driven by Cables,” IEEE Trans. Rob., 30(5), pp. 1109–1122. [CrossRef]
Arezzo, A. , Mintz, Y. , Allaix, M. E. , Gerboni, G. , Brancadoro, M. , Cianchetti, M. , Menciassi, A. , Wurdemann, H. , Noh, Y. , Fras, Y. , Glowka, J. , Nawrat, Z. , Cassidy, G. , Walker, R. , Arolfo, S. , Bonino, M. , Morino, M. , and Althoefer, K. , 2017, “ Total Mesorectal Excision Using a Soft and Flexible Robotic Arm: A Feasibility Study in Cadaver Models,” Surg. Endoscopy, 31(1), pp. 264–273.
Edwards, C. H. , and Penney, D. E. , 2013, “ Differential Equations and Linear Algebra,” Always Learning, Pearson Education Limited, Harlow, England.
Selig, J. M. , 2007, “ Geometric Fundamentals of Robotics,” Monographs in Computer Science, Springer, New York.
Bullo, F. , and Murray, R. M. , 1995, “ Proportional Derivative (PD) Control on the Euclidean Group,” European Control Conference (ECC), Rome, Italy, Sept. 5–8, pp. 1091–1097.
Abate, M. , and Tovena, F. , 2011, “ Geometria Differenziale,” UNITEXT, Springer Milan, Milan, Italy.
Murray, R. M. , Li, Z. , and Sastry, S. S. , 1994, A Mathematical Introduction to Robotic Manipulation, Taylor & Francis, CRC Press, Boca Raton, FL.
Boyer, F. , and Renda, F. , 2016, “ Poincaré's Equations for Cosserat Media: Application to Shells,” J. Nonlinear Sci., 27(1), pp. 1–44.
Featherstone, R. , 2008, Rigid Body Dynamics Algorithms, Springer, New York.
Gibson, C. G. , and Hunt, K. H. , 1990, “ Geometry of Screw Systems—1: Screws: Genesis and Geometry,” Mech. Mach. Theory, 25(1), pp. 1–10. [CrossRef]
Wu, Y. , Lowe, H. , Carricato, M. , and Li, Z. , 2016, “ Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics,” IEEE Trans. Rob., 32(2), pp. 312–326. [CrossRef]
Brockett, R. W. , 1999, “ Explicitly Solvable Control Problems With Nonholonomic Constraints,” 38th IEEE Conference on Decision and Control (CDC), Phoenix, AZ, Dec. 7–10, pp. 13–16.
Selig, J. M. , 2015, “ A Class of Explicitly Solvable Vehicle Motion Problems,” IEEE Trans. Rob., 31(3), pp. 766–777. [CrossRef]


Grahic Jump Location
Fig. 1

Depiction of the kinematics of the piecewise constant strain model

Grahic Jump Location
Fig. 2

Depiction of the tendon and fluidic actuation for one section

Grahic Jump Location
Fig. 3

(Left) relative position and orientation gcSE(3) between the local (micro)body frame and the tangent frame to the cable/chamber. (Right) a particular configuration of the constant distribution actuation load.

Grahic Jump Location
Fig. 4

(a) Screw system generated by all the possible configurations of a constant distribution actuation. (b) “Steinits”-type, and (c) “Caratheodory”-type actuation system that give manipulable soft arm.

Grahic Jump Location
Fig. 5

Soft robotic modular tool used for the model verification. In the reported embodiment, the internal channel has been used to lodge a microcamera transforming the tool into an endoscope. A schematic of one module showing the internal arrangement of the actuating chambers. Reported dimensions: d1 = 3 mm, d2 = 4.5 mm, d3 = 14.8 mm, and L = 45 mm.

Grahic Jump Location
Fig. 6

Comparison between actual chamber pressures and chamber pressures predicted by the model



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In