University of Twente Student Theses
Haptic force feedback using soft actuators in the context of robotic needle insertions
Hoekstra, Mark (2024) Haptic force feedback using soft actuators in the context of robotic needle insertions.
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| Abstract: | This thesis aims to use pneumatic soft robotics together with a model-free control strategy to provide precise haptic force feedback, specifically in the context of needle insertions. First, a new actuation method is proposed. This new method reduces the number of inputs from two to one. The position control performance was tested using both actuation methods, showing no performance loss. A force controller was designed using this new actuation method. This force controller consists of two parts, namely a feed-forward, created by performing a force characterisation on the system, and a feedback part. Initially, a PI feedback controller was tuned with 1N set-point changes. The resulting controller showed accurate force tracking performance, however used too aggressive control. This aggressiveness led to issues with the actuator’s durability. The durability issue led to the addition of a pressure change speed limit and a damping term in the feedback controller. This final controller showed comparable performance to the initial PI controller, while avoiding aggressive pressure changes. The degradation experiments showed that the actuators do indeed change over time due to usage. However, more research is needed to gain more insight into this degradation, along with its effect on control performance. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/104177 |
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