Twisted string actuation with position feedback for robotic endoscopy
A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bu...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2021-10-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2021-2087 |
| _version_ | 1797989280555991040 |
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| author | Schlesiger Davina Giacoppo Giuliano A. Schäfer Max B. Pott Peter P. |
| author_facet | Schlesiger Davina Giacoppo Giuliano A. Schäfer Max B. Pott Peter P. |
| author_sort | Schlesiger Davina |
| collection | DOAJ |
| description | A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented. |
| first_indexed | 2024-04-11T08:17:44Z |
| format | Article |
| id | doaj.art-209b11d0c3cf4b85a6b08eb350a1859d |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-11T08:17:44Z |
| publishDate | 2021-10-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-209b11d0c3cf4b85a6b08eb350a1859d2022-12-22T04:35:04ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042021-10-017234334610.1515/cdbme-2021-2087Twisted string actuation with position feedback for robotic endoscopySchlesiger Davina0Giacoppo Giuliano A.1Schäfer Max B.2Pott Peter P.3Institute of Medical Device Technology, University of Stuttgart, Paffenwaldring 9, 70569Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9, 70569Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart, Paffenwaldring 9, 70569Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart, Paffenwaldring 9, 70569Stuttgart, GermanyA twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented.https://doi.org/10.1515/cdbme-2021-2087tsatwisted string actuatorrobotic endoscopyposition control |
| spellingShingle | Schlesiger Davina Giacoppo Giuliano A. Schäfer Max B. Pott Peter P. Twisted string actuation with position feedback for robotic endoscopy Current Directions in Biomedical Engineering tsa twisted string actuator robotic endoscopy position control |
| title | Twisted string actuation with position feedback for robotic endoscopy |
| title_full | Twisted string actuation with position feedback for robotic endoscopy |
| title_fullStr | Twisted string actuation with position feedback for robotic endoscopy |
| title_full_unstemmed | Twisted string actuation with position feedback for robotic endoscopy |
| title_short | Twisted string actuation with position feedback for robotic endoscopy |
| title_sort | twisted string actuation with position feedback for robotic endoscopy |
| topic | tsa twisted string actuator robotic endoscopy position control |
| url | https://doi.org/10.1515/cdbme-2021-2087 |
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