Table of Contents
ISRN Robotics
Volume 2013 (2013), Article ID 890609, 9 pages
http://dx.doi.org/10.5402/2013/890609
Research Article

From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism

1Bristol Robotics Laboratory, University of Bristol and University of the West of England, T Block, Frenchay Campus, Bristol BS16 1QY, UK
2Department of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Avenue, Astana 010000, Kazakhstan

Received 30 April 2013; Accepted 9 July 2013

Academic Editors: L. Asplund, C.-C. Tsai, and Y. Zhou

Copyright © 2013 Ioannis Georgilas and Vassilios Tourassis. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. J. F. V. Vincent and D. L. Mann, “Systematic technology transfer from biology to engineering,” Philosophical Transactions of the Royal Society A, vol. 360, no. 1791, pp. 159–173, 2002. View at Publisher · View at Google Scholar · View at Scopus
  2. J. O. Wilson and D. Rosen, “Systematic reverse engineering of biological systems,” in Proceedings of the 19th International Conference in Design Theory and Methodology and 1st International Conference in Micro and Nano Systems, ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE '07), vol. 3, part A, pp. 69–78, Las Vegas, Nev, USA, September 2007.
  3. G. Robinson and J. B. C. Davies, “Continuum robots—a state of the art,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '99), pp. 2849–2854, May 1999. View at Scopus
  4. I. D. Walker, “Continuous backbone “continuum” robot manipulators,” ISRN Robotics, vol. 2013, Article ID 726506, 19 pages, 2013. View at Publisher · View at Google Scholar
  5. R. J. Webster III and B. A. Jones, “Design and kinematic modeling of constant curvature continuum robots: a review,” International Journal of Robotics Research, vol. 29, no. 13, pp. 1661–1683, 2010. View at Publisher · View at Google Scholar · View at Scopus
  6. S. Hirose, Biologically Inspired Robots (Snake-Like Locomotor and Manipulator), Oxford University Press, London, UK, 1993.
  7. R. Cieślak and A. Morecki, “Elephant trunk type elastic manipulator—a tool for bulk and liquid materials transportation,” Robotica, vol. 17, no. 1, pp. 11–16, 1999. View at Google Scholar · View at Scopus
  8. M. W. Hannan and I. D. Walker, “The “elephant trunk” manipulator, design and implementation,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '01), vol. 1, pp. 14–19, July 2001. View at Scopus
  9. I. A. Gravagne, C. D. Rahn, and I. D. Walker, “Large deflection dynamics and control for planar continuum robots,” IEEE/ASME Transactions on Mechatronics, vol. 8, no. 2, pp. 299–307, 2003. View at Publisher · View at Google Scholar · View at Scopus
  10. H. Takanobu, T. Tandai, and H. Miura, “Multi-DOF flexible robot base on tongue,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '04), pp. 2673–2678, May 2004. View at Scopus
  11. A. M. Andruska and K. S. Peterson, “Control of a snake-like robot in an elastically deformable channel,” IEEE/ASME Transactions on Mechatronics, vol. 13, no. 2, pp. 219–227, 2008. View at Publisher · View at Google Scholar · View at Scopus
  12. D. B. Camarillo, C. F. Milne, C. R. Carlson, M. R. Zinn, and J. K. Salisbury, “Mechanics modeling of tendon-driven continuum manipulators,” IEEE Transactions on Robotics, vol. 24, no. 6, pp. 1262–1273, 2008. View at Publisher · View at Google Scholar · View at Scopus
  13. D. C. Rucker, R. J. Webster III, G. S. Chirikjian, and N. J. Cowan, “Equilibrium conformations of concentric-tube continuum robots,” International Journal of Robotics Research, vol. 29, no. 10, pp. 1263–1280, 2010. View at Publisher · View at Google Scholar · View at Scopus
  14. T. J. Drozda, “The spine robot... the verdict's yet to come,” Manufacturing Engineering, vol. 93, no. 3, pp. 110–112, 1984. View at Google Scholar · View at Scopus
  15. G. Immega and K. Antonelli, “The KSI tentacle manipulator,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3149–3154, May 1995. View at Scopus
  16. R. Buckingham and A. Graham, “Snaking around in a nuclear jungle,” Industrial Robot, vol. 32, no. 2, pp. 120–127, 2005. View at Publisher · View at Google Scholar · View at Scopus
  17. I. P. Georgilas and V. D. Tourassis, “ERMIS—a novel biologically inspired flexible robotic mechanism for industrial applications,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '09), pp. 1504–1509, Singapore, July 2009. View at Publisher · View at Google Scholar · View at Scopus
  18. A. A. White and M. M. Panjabi, Clinical Biomechanics of the Spine, Lippincott Williams & Wilkins, Philadelphia, Pa, USA, 1990.
  19. N. Yoganandan, S. Kumaresan, and F. A. Pintar, “Biomechanics of the cervical spine. Part 2. Cervical spine soft tissue responses and biomechanical modeling,” Clinical Biomechanics, vol. 16, no. 1, pp. 1–27, 2001. View at Publisher · View at Google Scholar · View at Scopus
  20. H. Ahn, A virtual model of the human cervical spine for physics-based simulation and applications [Ph.D. thesis], The University of Tennessee Health Science Center, 2005.
  21. S. K. Mustafa, G. Yang, S. H. Yeo, W. Lin, and I. M. Chen, “Self-calibration of a biologically inspired 7 DOF cable-driven robotic arm,” IEEE/ASME Transactions on Mechatronics, vol. 13, no. 1, pp. 66–75, 2008. View at Publisher · View at Google Scholar · View at Scopus
  22. K. Ning and F. Worgotter, “Control system development for a novel wire-driven hyper-redundant chain robot, 3D-trunk,” IEEE/ASME Transactions on Mechatronics, vol. 17, no. 5, pp. 949–959, 2012. View at Publisher · View at Google Scholar · View at Scopus
  23. O. Robotics, “Snake-arm robots access the inaccessible,” Nuclear Technology International, vol. 1, pp. 92–94, 2008. View at Google Scholar
  24. G. Monheit and N. I. Badler, “A kinematic model of the human spine and torso,” IEEE Computer Graphics and Applications, vol. 11, no. 2, pp. 29–38, 1991. View at Publisher · View at Google Scholar · View at Scopus
  25. C. U. de Jongh, A. H. Basson, and C. Scheffer, “Dynamic simulation of cervical spine following single-level cervical disc replacement,” in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology, pp. 4289–4292, August 2007. View at Scopus
  26. I. P. Georgilas and V. D. Tourassis, “Quality issues in enameling of ceramic industry products,” in Proceedings of the IEEE International Conference on Industrial Engineering and Engineering Management (IEEM '07), pp. 1225–1230, IEEE, Singapore, December 2007. View at Publisher · View at Google Scholar · View at Scopus
  27. B. A. Jones and I. D. Walker, “Kinematics for multisection continuum robots,” IEEE Transactions on Robotics, vol. 22, no. 1, pp. 43–55, 2006. View at Publisher · View at Google Scholar · View at Scopus