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Design and control of a new electrostrictive polymer based continuum actuator for endoscopic robot

dc.rights.licenseopenen_US
dc.contributor.authorJACQUEMIN, Quentin
hal.structure.identifierLaboratoire de l'intégration, du matériau au système [IMS]
dc.contributor.authorSUN, Quan
hal.structure.identifierLaboratoire de l'intégration, du matériau au système [IMS]
dc.contributor.authorTHUAU, Damien
dc.contributor.authorTENCE-GIRAULT, Sylvie
dc.contributor.authorDOIZI, Steeve
dc.contributor.authorTRAXER, Olivier
dc.contributor.authorMECHBAL, Nazih
dc.contributor.authorMONTEIRO, Eric
dc.date.accessioned2024-05-14T08:11:58Z
dc.date.available2024-05-14T08:11:58Z
dc.date.issued2022-12-22
dc.identifier.issn1045-389Xen_US
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/199815
dc.description.abstractEnMinimally Invasive Surgery (MIS) consists of the insertion of a flexible endoscope into the patient body through natural orifices. Over the past few decades, the growing interest in microelectromechanical systems (MEMS) has paved the way for ubiquitous miniaturized integrated sensors and actuators in medical endoscopy. Nowadays, recent advances in materials have opened a promising way to fulfill the surgical requirements and size constraint for the development of smart continuum structures. Among smart materials, electroactive polymers (EAPs) exhibit exceptionally large, fast, repeatable, and reversible motions while perfectly meeting the requirements of micro-integration. However the high applied voltage required for the actuation is not compatible with in vivo medical application. To overcome these issues, a multilayered concept has been proposed. In this work a relaxor ferroelectric electrostrictive polymer is studied for its large electromechanical strain. A wide range of parameters involved in the active material has led us to the development of a finite element model on Abaqus to guide the experimental development. Then, to control this smart endoscopic robot a kinematic and a dynamic models have been built. To test and validate these models a Co-simulation procedure has been developed. This procedure coupled Abaqus and Matlab-Simulink allowing testing proposed control algorithms.
dc.language.isoENen_US
dc.title.enDesign and control of a new electrostrictive polymer based continuum actuator for endoscopic robot
dc.title.alternativeJIMSSen_US
dc.typeArticle de revueen_US
dc.identifier.doi10.1177/1045389X221142090en_US
dc.subject.halSciences de l'ingénieur [physics]en_US
bordeaux.journalSage Journalsen_US
bordeaux.page1355-1365en_US
bordeaux.volume34en_US
bordeaux.hal.laboratoriesIMS : Laboratoire de l'Intégration du Matériau au Système - UMR 5218en_US
bordeaux.issue12en_US
bordeaux.institutionUniversité de Bordeauxen_US
bordeaux.institutionBordeaux INPen_US
bordeaux.institutionCNRSen_US
bordeaux.teamORGANICS ELECTRONICS-PRIMSen_US
bordeaux.peerReviewedouien_US
bordeaux.inpressnonen_US
hal.popularnonen_US
hal.audienceInternationaleen_US
hal.exportfalse
dc.rights.ccPas de Licence CCen_US
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=Sage%20Journals&rft.date=2022-12-22&rft.volume=34&rft.issue=12&rft.spage=1355-1365&rft.epage=1355-1365&rft.eissn=1045-389X&rft.issn=1045-389X&rft.au=JACQUEMIN,%20Quentin&SUN,%20Quan&THUAU,%20Damien&TENCE-GIRAULT,%20Sylvie&DOIZI,%20Steeve&rft.genre=article


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