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PneuAct, ICRA 2018, Foad Sojoodi Farimani
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Fig10
Fig4
Fig6
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Fig9
README.md
ref.bib

README.md

Description:

This Repository is indented to provide additional information for the article:

F. Sojoodi Farimani and S. Misra, "Introducing PneuAct: Parametrically-Designed MRI-Compatible Pneumatic Stepper Actuator," in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA),May 2018, 200--205.

presented at The International Conference on Robotics and Automation (ICRA) 2018, Brisbane, Australia. The main goal is to provide falsifiable experimental measurements required for a valid scientific publication. You may use these information only for scientific and academic purposes. It would be highly appreciated to cite to the main article using this .bib file. If you are interested to use these informational for commercial pourposes please contact the authors(s) via email: f.s.farimani@gmail.com.

Figures:

For each Figure used in the article extra information and measurement data will be included in a separate folder:

  • Fig4: raw MRI images plus python code for signal to noise ratio calculation
  • Fig6: Experimental measurements in .csv format plus Mathematica code for interpolation and plotting
  • Fig7: Experimental measurements in .csv format plus Mathematica code for interpolation and plotting
  • Fig9: Experimental measurements in .csv format plus Mathematica code for interpolation and plotting
  • Fig10: Experimental measurements in .csv format plus Mathematica code for interpolation and plotting

Relevant links:

Abstract:

Pneumatic stepper motors are one of the promising alternative actuation methods for motion control in environments where electromagnetic (EM) motors cannot be used. Due to the lack of commercial off-the-shelf products, researchers working on MR compatible robotics have to develop their own pneumatic actuators. This imposes extensive costs and delays on the development process. Additionally, the current solutions are limited in their range of specifications and are difficult to manufacture. In this paper, proof-of-concept-prototypes for a family of parametrically designed, electromagnetically stealth, rotational pneumatic stepper motors are presented. The main objective of the paper is to demonstrate a general purpose nonelectromagnetic actuation method, which can be customized and integrated into any design. Customizability, miniaturization, safety and affordability are some of the key features of the presented work. The developed prototypes are entirely 3D-printed and contain no sealing, bearing or lubrication. Thanks to the low production cost, the motor can be used as a disposable part in surgical applications. Experiments demonstrate effectiveness of the design in terms of cost-efficiency, versatility, MRI compatibility, speed and performance. In order to optimize the design and control algorithm, empirical equations are presented describing response time of a pneumatic system to sequential pressure signals. A rotational speed of 800 rpm, total volume of 4.6 cm3 and resolution of 3◦ are some of the design attributes. The effects of clearance on stick-slip effect and leakage in a 3D printed cylinder-piston are also presented.

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