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tests, determining the joint’s workspace and movement tracking were performed using an AURORA
electromagnetic localization system; a 6 DoF localization probe was fixed on the tip of the joint. Data
analysis has been elaborated in MATLAB.
R e s u l t s
A prototype of the joint was fabricated by rapid prototyping technology. The current prototype can
reach a maximum bending angle of 55° in all planes (Fig. 3). Fig. 4 shows the mean data points of
three repeated joint movements from 0° to 55° in respect to its fitting curve (4 th degree polynomial)
with a standard error of 0.16.
Fig. 3: Workspace shape of the joint. Fig. 4: Mean curve of three datasets from 0°-55°
with a 4th degree polynomial fitting curve.
The force developed at the tip of the joint was measured by fixing a load cell (Alluris FMI-210B5) at the
tip and moving the joint against it; we measured a maximum force of 5 N. First integration of the joint
into the current manipulator model has been successfully completed.
C o n c l u s i o n
A fully working 2 DoF joint was designed, fabricated and tested. Future work includes the complete
integration into the current continuum-like robot module and the integration of a further joint (e.g. Roll).
The results represent an important step towards the development of flexible, surgical robotic systems
equipped with distal wrist dexterity for the performance of complex surgical tasks.
Ac k n o w l e d g m e n t s
The work described in this paper is supported by the STIFF-FLOP project (http://www.stiff-flop.eu/)
grant from the European Communities Seventh Framework Program under grant agreement 287728.
R e f e r e n c e s
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