Abstract
Foldable and deployable designs have been explored in constraint anatomical procedures in small, confined and constricted spaces. However, there exist unmet needs for kinesthesia sensorization and closed-loop feedback to ensure the precision and accuracy of fine movements. We introduced a hydrogel silver nanowire soft sensor to provide structural feedback on a kirigami model. Introducing kinesthesia sensory into the robotic system hopes to improve feedback control and, therefore, increase accuracy and precision.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ahmed EM (2015) Hydrogel: preparation, characterization, and applications: a review. J Adv Res 6(2):105–121. https://doi.org/10.1016/j.jare.2013.07.006
Arulampalam T, Paterson-Brown S, Morris A, Parker M (2009) Natural orifice transluminal endoscopic surgery. Ann R Coll Surg Engl 91(6):456–459. https://doi.org/10.1308/003588409X464487
Buenger D, Topuz F, Groll J (2012) Hydrogels in sensing applications. Prog Polym Sci 37(12):1678–1719. https://doi.org/10.1016/j.progpolymsci.2012.09.001
Cai G, Wang J, Qian K, Chen J, Li S, Lee PS (2017) Extremely stretchable strain sensors based on conductive self-healing dynamic cross-links hydrogels for human-motion detection. Adv Sci 4(2):1600190. https://doi.org/10.1002/advs.201600190
Cai CJ et al (2021) Diversified and untethered motion generation via crease patterning from magnetically actuated caterpillar-inspired origami robot. IEEE/ASME Trans Mechatron 26(3):1678–1688
Chang T-H, Tian Y, Wee DLY, Ren H, Chen P-Y (2018) Crumpling and unfolding of montmorillonite hybrid nanocoatings as stretchable flame-retardant skin. Small 14(21):1800596. https://doi.org/10.1002/smll.201800596
EPFL (2020) Soft pneumatic actuator (SPA)—Skin—RRL. https://www.epfl.ch/labs/rrl/research-2/research-soft/page-148990-en-html/. Accessed 05 May 2020
Gouzos M, Sethi N, Foreman A, Krishnan S, Hodge JC (2020) How I do it: transnasal retraction during transoral robotic oropharyngeal resection. J Robot Surg 14(1):81–84. https://doi.org/10.1007/s11701-019-00937-y
Gu X, Li C, Xiao X, Lim CM, Ren H (2019) A compliant transoral surgical robotic system based on a parallel flexible mechanism. Ann Biomed Eng. https://doi.org/10.1007/s10439-019-02241-0
Hughes J, Iida F (2018) Multi-functional soft strain sensors for wearable physiological monitoring. Sensors 18(11):3822. https://doi.org/10.3390/s18113822
Hussain A, Malik A, Halim MU, Ali AM (2014) The use of robotics in surgery: a review. Int J Clin Pract 68(11):1376–1382. https://doi.org/10.1111/ijcp.12492
Lanfranco AR, Castellanos AE, Desai JP, Meyers WC (2004) Robotic surgery. Ann Surg 239(1):14–21. https://doi.org/10.1097/01.sla.0000103020.19595.7d
Li S et al (2019) High-performance temperature sensor based on silver nanowires. Mater Today Commun 20:100546. https://doi.org/10.1016/j.mtcomm.2019.100546
Lv J et al (2019) Wearable, stable, highly sensitive hydrogel–graphene strain sensors. Beilstein J Nanotechnol 10(1):475–480. https://doi.org/10.3762/bjnano.10.47
McLeod DIK, Mair DEA, Melder DPC (2005) Potential applications of the da vinci minimally invasive surgical robotic system in otolaryngology. Ear Nose Throat J. https://doi.org/10.1177/014556130508400810
Ochsner JL (2000) Minimally invasive surgical procedures. Ochsner J 2(3):135–136
Sethi N et al (2020) Transoral robotic surgery using the Medrobotic Flex® system: the Adelaide experience. J Robot Surg 14(1):109–113. https://doi.org/10.1007/s11701-019-00941-2
Shigemune H, Maeda S, Hara Y, Koike U, Hashimoto S (2015) Kirigami robot: making paper robot using desktop cutting plotter and inkjet printer. In: 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 1091–1096. https://doi.org/10.1109/IROS.2015.7353506.
Simaan N, Yasin RM, Wang L (2018) Medical technologies and challenges of robot-assisted minimally invasive intervention and diagnostics. Annu. Rev. Control Robot. Auton. Syst. 1(1):465–490. https://doi.org/10.1146/annurev-control-060117-104956
SIMLAB (Real-Time Lab Platform for Matlab/Simulink). http://www.zeltom.com/simlab.html. Accessed 17 April 2020
Swaminathan R, Cai C, Yuan S, Ren H (2021) Multiphysics simulation of magnetically actuated robotic origami worms. IEEE Robot Autom Lett 6(3):4923–4930
Tang Y, Li Y, Hong Y, Yang S, Yin J (2019) Programmable active kirigami metasheets with more freedom of actuation. PNAS 116(52):26407–26413. https://doi.org/10.1073/pnas.1906435116
Tsang RK (2015) Transoral robotic surgery: development and challenges. Robot Surg: Res Rev. https://www.dovepress.com/transoral-robotic-surgery-development-and-challenges-peer-reviewed-fulltext-article-RSRR. Accessed 16 April 2020
Vavra C (2020) Soft robotic arm uses flexible sensors to understand its position. Control Eng. https://www.controleng.com/articles/soft-robotic-arm-uses-flexible-sensors-to-understand-its-position/. Accessed 16 Apr 2020
Wang H, Totaro M, Beccai L (2018) Toward perceptive soft robots: progress and challenges. Adv Sci 5(9). https://doi.org/10.1002/advs.201800541
Yeow BS, et al (2021) Magnetically steerable serial and parallel structures by mold-free origami templating and domain setting. Adv Mater Technol 2101140. https://doi.org/10.1002/admt.202101140
Zhang D et al (2020) From design to applications of stimuli-responsive hydrogel strain sensors. J Mater Chem B. https://doi.org/10.1039/C9TB02692D
Acknowledgements
This work was supported by the key project 2021B1515120035 (B.02.21.00101) of the Regional Joint Fund Project of the Basic and Applied Research Fund of Guangdong Province, Hong Kong Research Grants Council (RGC) Collaborative Research Fund (CRF C4026-21G).
Author information
Authors and Affiliations
Corresponding author
1 Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary file1 (MP4 2663 kb)
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Qing, L., Kumar, K., Ren, H. (2023). Kinesthesia Sensorization of Foldable Designs Using Soft Sensors. In: Deployable Multimodal Machine Intelligence. Lecture Notes in Bioengineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-5932-5_16
Download citation
DOI: https://doi.org/10.1007/978-981-19-5932-5_16
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-19-5931-8
Online ISBN: 978-981-19-5932-5
eBook Packages: Physics and AstronomyPhysics and Astronomy (R0)