In this section
The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
Twitter/X: @MIMLab_Robotics
Youtube: Mechatronics in Medicine Lab
The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.
...
......
Mr Ayhan Aktas
Casual - Student demonstrator - lower rate
Dr Daniel Bautista Salinas
Research Associate
Dr Kaiwen Chen
Research Associate
Mr Zejian Cui
Research Postgraduate
Mr Connor Daly
Research Postgraduate
Emeritus Professor Brian L Davies FREng
Emeritus Professor
Mr Zhaoyang Jacopo Hu
Research Postgraduate
Dr Hisham M Iqbal
Research Associate
Mr Alex Ranne
Research Postgraduate
Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics
Dr Jialei Shi
Research Associate
Mr Spyridon Souipas
Casual - Other work
Ms Emilia Zari
Research Postgraduate
@inproceedings{Franco:2020:10.1109/CDC40024.2019.9029449,
author = {Franco, E and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1109/CDC40024.2019.9029449},
pages = {1019--1024},
publisher = {IEEE},
title = {Model based adaptive control for a soft robotic manipulator},
url = {http://dx.doi.org/10.1109/CDC40024.2019.9029449},
year = {2020}
}
TY - CPAPER
AB - The application of model based adaptive control to an underactuated system representative of a class of soft continuummanipulators is investigated. To this end, a rigid-linkmodel with elastic joints is employed and an energy shaping controller is designed. Additionally, model uncertainties and external disturbances, both matched and unmatched, are compensated with an adaptive algorithm. This results in a control law that only depends on the orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are discussed and the effectiveness of the controller is verified via simulations.
AU - Franco,E
AU - Garriga,Casanovas A
AU - Rodriguez,y Baena F
AU - Astolfi,A
DO - 10.1109/CDC40024.2019.9029449
EP - 1024
PB - IEEE
PY - 2020///
SP - 1019
TI - Model based adaptive control for a soft robotic manipulator
UR - http://dx.doi.org/10.1109/CDC40024.2019.9029449
UR - https://ieeexplore.ieee.org/document/9029449
UR - http://hdl.handle.net/10044/1/75757
ER -
General enquiries
hamlyn@imperial.ac.uk
Facility enquiries
hamlyn.facility@imperial.ac.uk
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
Map location
