The pose control for BMA-actuated soft EAR robot under external forces.

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In order to simplify the robot's clinical translation, the goal of this research is to investigate new control strategies for this soft robotic solution to obtain greater steering capabilities, active stabilization, and motion suppression, for example by modulating the applied contact force. To achieve this, new vision-based feedback techniques will be investigated in order to enhance the controllability of membrane-actuated soft robots. Control strategies for the soft robot will also be developed for this aim. Therefore, new control methods for ensuring contact between the robot and its surroundings will be investigated. The resulting methods will then be put to use, such as adapting the mechanical impedance of the system to enable successful process delivery. The Ph.D. agenda is mainly divided into three sections.Firstly, the pose control of the robot will be implemented using sensing variables used to describe the mechanical configuration of the robot (intrinsic sensing variables). Since intrinsic sensing-based control could potentially give erroneous results, an onboard camera will be used to implement a hybrid control combining vision with intrinsic sensing. In the last stage of the Ph.D., in addition to the previously mentioned points, patient and surgeon movements will be taken into account and countered for achieving a realistic control technique.