Page 8 - Flexible Robotics in Medicine
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viii Contents
Chapter 9: Tendon-driven linkage for steerable guide of flexible bending
manipulation......................................................................................217
Quanquan Liu, Ng Chiu Ping and Hongliang Ren
9.1 Introduction ....................................................................................................... 218
9.2 Mechanical design of the flexible robot............................................................. 220
9.3 Experimental procedure and results ................................................................... 222
9.4 Conclusions and future work ............................................................................. 228
Acknowledgment ....................................................................................................... 228
References ................................................................................................................. 229
Chapter 10: Soft-bodied flexible bending mechanism with silent shape
memory alloys aiming for robotic endoscopy ....................................231
Manivannan Sivaperuman Kalairaj, Tan Ze Feng and Hongliang Ren
10.1 Introduction ..................................................................................................... 231
10.2 Materials and methods..................................................................................... 234
10.3 Results............................................................................................................. 240
10.4 Discussions ...................................................................................................... 243
10.5 Conclusion....................................................................................................... 245
References ................................................................................................................. 246
Chapter 11: Comparative mechanical analysis for flexible bending manipulators
with quad-tendon antagonistic pairs................................................249
Deren Meng, Wenjun Xu and Hongliang Ren
11.1 Introduction ..................................................................................................... 249
11.2 Related work.................................................................................................... 250
11.3 Overview of the mechanism of paired tendon-driven manipulator ................... 253
11.4 Simulation of different designs using the finite element method...................... 256
11.5 Analysis of difference among different designs ............................................... 259
11.6 Prototype and experiment ................................................................................ 264
11.7 Conclusion and recommendation for the future study ...................................... 266
References ................................................................................................................. 266
Chapter 12: Flexible robotic platform with multiple-bending tendon-driven
mechanism ....................................................................................269
Wenjun Xu, Adib Ridzuan Bin Mohamad Roslan and Hongliang Ren
12.1 Introduction ..................................................................................................... 269
12.2 Design principles and qualifications................................................................. 270
