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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2406.07670 |
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| _version_ | 1866915823735537664 |
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| author | He, Binghan Zhao, Naichen Guo, David Y. Paxson, Charles H. De Goyeneche, Alfredo Lustig, Michael Liu, Chunlei Fearing, Ronald S. |
| author_facet | He, Binghan Zhao, Naichen Guo, David Y. Paxson, Charles H. De Goyeneche, Alfredo Lustig, Michael Liu, Chunlei Fearing, Ronald S. |
| contents | Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel MRI-compatible rotary series elastic actuator (SEA) module that employs velocity-sourced ultrasonic motors for force-controlled operation within MRI scanners. Unlike prior MRI-compatible SEA designs, our module uses a transmission force sensing SEA architecture, with four off-the-shelf compression springs placed between the gearbox and motor housings. To enable precise torque control, we develop a controller based on a disturbance observer, specifically designed for velocity-sourced motors. This controller improves torque regulation, even under varying external impedance, enhancing the actuator's suitability for MRI-guided medical interventions. Experimental validation confirms effective torque control in both 3 Tesla MRI and non-MRI settings, achieving a 5% settling time of 0.05 seconds and steady-state error within 2.5% of the actuator's maximum output torque. Notably, the controller maintains consistent performance across both low and high impedance conditions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_07670 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners He, Binghan Zhao, Naichen Guo, David Y. Paxson, Charles H. De Goyeneche, Alfredo Lustig, Michael Liu, Chunlei Fearing, Ronald S. Robotics Robotic assistance has broadened the capabilities of magnetic resonance imaging (MRI)-guided medical interventions, yet force-controlled actuators tailored for MRI environments remain limited. In this study, we present a novel MRI-compatible rotary series elastic actuator (SEA) module that employs velocity-sourced ultrasonic motors for force-controlled operation within MRI scanners. Unlike prior MRI-compatible SEA designs, our module uses a transmission force sensing SEA architecture, with four off-the-shelf compression springs placed between the gearbox and motor housings. To enable precise torque control, we develop a controller based on a disturbance observer, specifically designed for velocity-sourced motors. This controller improves torque regulation, even under varying external impedance, enhancing the actuator's suitability for MRI-guided medical interventions. Experimental validation confirms effective torque control in both 3 Tesla MRI and non-MRI settings, achieving a 5% settling time of 0.05 seconds and steady-state error within 2.5% of the actuator's maximum output torque. Notably, the controller maintains consistent performance across both low and high impedance conditions. |
| title | Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.07670 |