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Recent Developments of Actuation Mechanisms for Continuum Robots: A Review
Ibrahim A Seleem1,2, Haitham El-Hussieny3,4, Hiroyuki Ishii1
1Department of Modern Mechanical Engineering, Faculty of Science and Engineering, Waseda University, Tokyo, Japan.
International Journal of Control, Automation, and Systems
|May 8, 2023
Summary
Soft continuum robots offer advantages over rigid robots in complex environments. This review examines their actuation systems and control strategies for future development.
Area of Science:
- Robotics
- Biomimetics
- Mechanical Engineering
Background:
- Traditional rigid robots struggle with maneuverability and safety in confined spaces.
- Soft continuum robots, inspired by biological structures, offer compliance and adaptability.
- Existing soft robots utilize cable, pneumatic, or hydraulic actuation for bending motion.
Purpose of the Study:
- To review the advantages and disadvantages of various soft robot actuation systems.
- To provide a reference for recent advancements in soft robot actuation technology.
- To guide future applications by surveying control strategies for continuum robots.
Main Methods:
- Literature review of soft continuum robot actuation systems.
- Analysis of merits and drawbacks of different actuation techniques (cable, pneumatic, hydraulic).
- Survey of recent studies on controller design for continuum robots.
Main Results:
- Soft robots demonstrate superior performance in complex environments due to inherent compliance.
- Actuation mechanisms, motion planning, and control remain challenging due to high redundancy and non-linearity.
- Various actuation methods offer distinct benefits and limitations for specific applications.
Conclusions:
- Soft continuum robots present a viable alternative to rigid robots for intricate tasks.
- Further research is needed in actuation design, motion planning, and control algorithms.
- This review serves as a valuable resource for researchers and developers in soft robotics.
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