Journal
2022 8TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT'22)
Volume -, Issue -, Pages 770-774Publisher
IEEE
DOI: 10.1109/CODIT55151.2022.9803963
Keywords
Soft robotics; continuum manipulator; Magnetic; Shape formation; multiphysics simulation
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This paper establishes a physics-based simulation framework for steering a magnetically actuated guidewire based on the linear elasticity and dipoles theories. The framework employs a simplified integration scheme based on the finite-volume method to model the guidewire using the linear elasticity theory and forces resulting from the interference of magnetic fields. Simulations illustrate the approach performance on a soft rod, demonstrating its potential for constructing rapid models for continuum manipulators in practice.
This paper establishes a physics-based simulation framework for steering a magnetically actuated guidewire based on the linear elasticity and dipoles theories. Interaction wrenches resulting from an external magnetic field and embedded magnets in a continuum rod, i.e., guidewire, serves as actuators for steering. In the presented framework, a simplified integration scheme based on the finite-volume method is employed to model guidewire using the linear elasticity theory and forces resulting from the interference of magnetic fields to provide a rapid model reconstruction. Furthermore, orienting the external magnetic field is employed to steer a guidewire into a constrained environment. Finally, simulations illustrate the approach performance on a soft rod where an external magnetic field is orientated to form the desired shape for a continuum rod and steer it within an environment. The results open up possibilities to construct a rapid model for continuum manipulators in practice.
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