Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback

Stefano Scheggi, Krishna Kumar T. Chandrasekar, ChangKyu Yoon, Ben Sawaryn, G. van de Steeg, David H. Gracias, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

7 Citations (Scopus)
102 Downloads (Pure)

Abstract

Soft miniaturized untethered grippers can be used to manipulate and transport biological material in unstructured and tortuous environments. Previous studies on control of soft miniaturized grippers employed cameras and optical images as a feedback modality. However, the use of cameras might be unsuitable for localizing miniaturized agents that navigate within the human body. In this paper, we demonstrate the wireless magnetic motion control and planning of soft untethered grippers using feedback extracted from B-mode ultrasound images. Results show that our system employing ultrasound images can be used to control the miniaturized grippers with an average tracking error of 0.4±0.13 mm without payload and 0.36±0.05 mm when the agent performs a transportation task with a payload. The proposed ultrasound feedback magnetic control system demonstrates the ability to control miniaturized grippers in situations where visual feedback cannot be provided via cameras.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationSingapore
PublisherIEEE
Pages-
Publication statusPublished - 29 May 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore
Duration: 29 May 20173 Jun 2017
http://www.icra2017.org/

Publication series

Name
PublisherIEEE

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17
Internet address

Fingerprint

Grippers
Motion control
Motion planning
Ultrasonics
Feedback
Cameras
Biological materials
Control systems

Keywords

  • METIS-321630
  • IR-103726

Cite this

Scheggi, S., Chandrasekar, K. K. T., Yoon, C., Sawaryn, B., van de Steeg, G., Gracias, D. H., & Misra, S. (2017). Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. -). Singapore: IEEE.
Scheggi, Stefano ; Chandrasekar, Krishna Kumar T. ; Yoon, ChangKyu ; Sawaryn, Ben ; van de Steeg, G. ; Gracias, David H. ; Misra, Sarthak. / Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Singapore : IEEE, 2017. pp. -
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Scheggi, S, Chandrasekar, KKT, Yoon, C, Sawaryn, B, van de Steeg, G, Gracias, DH & Misra, S 2017, Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). IEEE, Singapore, pp. -, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17.

Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. / Scheggi, Stefano; Chandrasekar, Krishna Kumar T.; Yoon, ChangKyu; Sawaryn, Ben; van de Steeg, G.; Gracias, David H.; Misra, Sarthak.

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Singapore : IEEE, 2017. p. -.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

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Scheggi S, Chandrasekar KKT, Yoon C, Sawaryn B, van de Steeg G, Gracias DH et al. Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Singapore: IEEE. 2017. p. -