ICRA 2012 Paper Abstract


Paper TuD03.4

Abdelaziz, Salih (LSIIT, University of Strasbourg), Esteveny, Laure (LSIIT, University of Strasbourg), Barbé, laurent (University of Strasbourg, LSIIT UMR CNRS), Renaud, Pierre (LSIIT, Strasbourg University), Bayle, Bernard (University of Strasbourg), de Mathelin, Michel (University of Strasbourg)

Development of a MR-Compatible Cable-Driven Manipulator: Design and Technological Issues

Scheduled for presentation during the Regular Session "Cable-Driven Mechanisms" (TuD03), Tuesday, May 15, 2012, 17:15−17:30, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 22, 2018

Keywords Tendon/Wire Mechanism


In this paper, we focus on the technology issues to be solved to develop a cable-driven robot compatible with Magnetic Resonance Imaging constraints. This study is based on the design of a new compact cable-driven manipulator with remote actuators, initially developed for prostate interventions. One of the originalities of the system is to use an instrumented structure to evaluate the cable tensions and lengths in order to perform an adequate control. The sensors assessment has been experimentally achieved and the necessity to introduce a new control strategy using the developed sensors has been demonstrated.



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