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Logo: Lehrstuhl für Kontinuumsrobotik/Leibniz Universität Hannover
Logo Leibniz Universität Hannover
Logo: Lehrstuhl für Kontinuumsrobotik/Leibniz Universität Hannover
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Soft Robotics Journal akzeptiert Beitrag

"Stiffening Sheaths for Continuum Robots"

Wir freuen uns über die Annahme unseres Beitrages "Stiffening Sheaths for Continuum Robots" im Journal Soft Robotics. Das Journal ist mit einem Impact Faktor von 8,649 das Top Robotik Journal.

Besonders freut uns, dass der Beitrag aus den Ergebnissen der Masterarbeit von Frau Marlene Langer entstanden ist! Gemeinsam mit Marlene Langer haben Ernar Amanov und Jessica Burgner-Kahrs den Artikel erarbeitet.

Der Beitrag befindet sich nun im Druck. Bis zur Veröffentlichung hier schonmal die Zusammenfassung:

Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small diameter continuum robots in order to temporarily increase the stiffness in a certain configuration. In this paper, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection, and experimental results for stiffness with respect to lateral and axial applied forces. Further, we detected empirically additional effects relating sheath stiffness to material parameters, and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon actuated continuum robot stiffness can be improved by a factor up to 24.