A new paper has just been published from the STORM Lab UK, it describes a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. Achieved through the use of a “disturbance wrench”, which is used to compensate for unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace.
It is expected that this approach could provide similar benefits for a wide range of soft robotics applications, both in and outside of the medical field.
White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/156331/