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Kinematic Equations: Problem Solving01:15

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Updated: Dec 27, 2025

Kinematic Analysis Using 3D Motion Capture of Drinking Task in People With and Without Upper-extremity Impairments
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Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators.

Federico Campisano1, Andria A Remirez2, Simone Caló3

  • 1Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA.

IEEE Robotics and Automation Letters
|March 4, 2020
PubMed
Summary

This study introduces a method using orientation sensor feedback to improve continuum manipulator models. The approach significantly reduces position and orientation errors in flexible robots, enhancing their accuracy.

Keywords:
Flexible RobotsKinematicsMedical Robots and Systems

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Continuum manipulators are flexible robots with continuous deformation.
  • Existing kinematic models require calibration but are limited by unmodeled effects like friction and material variations.
  • These limitations reduce the accuracy of robotic manipulator models.

Purpose of the Study:

  • To enhance the accuracy of kinematic models for continuum manipulators.
  • To compensate for unmodeled effects that degrade model performance.
  • To improve the real-world application of flexible robotic systems.

Main Methods:

  • Incorporation of orientation sensor feedback into kinematic models.
  • Utilizing a "disturbance wrench" to estimate and compensate for unmodeled effects.
  • Continuous estimation of the disturbance wrench based on sensor data during robot operation.

Main Results:

  • Demonstrated an average of 40% reduction in root mean square position error.
  • Achieved an average of 40% reduction in root mean square orientation error.
  • Validated the method on the HydroJet waterjet-actuated soft continuum manipulator.

Conclusions:

  • Orientation sensor feedback effectively improves continuum manipulator kinematic models.
  • The disturbance wrench compensation method enhances model accuracy for flexible robots.
  • This approach offers a significant improvement for Cosserat rod and pseudo-rigid body models.