Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum Robot with Input Nonlinearities and Disturbances.

This paper develops an adaptive nonsingular fast terminal sliding-mode control (ANFTSMC) scheme for the continuum robot subjected to uncertain dynamics, external disturbances, and input nonlinearities (e.g., actuator deadzones/faults).

Adaptive Approximation Tracking Control of a Continuum Robot With Uncertainty Disturbances.

Continuum robot has certain compliance and intrinsic safety, which makes it an excellent substitute for the traditional rigid robot in the various tasks, such as human-robot interaction or medical surgery. However, due to the complex nonlinearities which are induced by the compliance, parameter uncertainties, and unknown disturbances, good performance control scheme for the continuum robot is always a challenging task for the practical applications. Thus, to overcome this challenge of the uncertain dynamics and unknown external disturbances, this article develops a novel adaptive control scheme for a continuum robot using the function approximation technique (FAT).

Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot.

Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method.

Motion Simulation of Ionic Liquid Gel Soft Actuators Based on CPG Control.

The ionic liquid gel (ILG), a new type of soft actuator material, is a mixture of 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP), and ZrO polymerized into a gel state under ultraviolet (UV) light irradiation. The soft actuator structure consists of a layer of ionic liquid polymer gel sandwiched between two layers of activated carbon capped with gold foil. The volume of the cationic BMIM in the ionic liquid BMIMBF is much larger than that of the anionic BF .

Analysis of rotation angles and motions of the flexible mechanisms in bifurcated blood vessels.

This article investigates the relationship of rotation angle of two ends of elastic guidewires, and motion method of guidewires and catheters in bifurcated blood vessels. The relationship of rotation angles of the two ends of the guidewire has first been studied by mathematical reasoning, indicating that the rotation angle of the front end of guidewire can be precisely described by that of the rear end. In order to satisfy the requirements of different vascular interventional surgeries, we further investigated a general model of bifurcated human blood vessels.