Characterization and modeling of a pneumatic actuator for a soft continuum robot

摘要

Pneumatic actuators are not only low-cost, safe, clean, and exhibit a high power to weight ratio, but also provide alternative technology for MRI-compatible application, like robotic surgery. This paper will present a soft continuum robot which is fully MRI-compatible for medical surgery. Characteristics of static flow stage of actuators for this robot will be firstly analyzed based on standard experimental tests. Mathematical model of the static flow rate stage will be developed using polynomial function and validated. The results of this study will be used to design control scheme for late work.