Platform 3: Actuation & Control

Summary

Many problems in medicine and health need innovative actuators, together with their associated control systems. The purpose of the Actuation and Control technology platform is to develop and provide solutions that can support the goals of existing MedTech CoRE projects, but also enable new applications through the development of new actuators, methods, and control systems.

A collage of photos.

Team

Principal Investigators

University of Auckland

Associate Investigators

University of Auckland

Auckland University of Technology

Students

University of Auckland

Our Work

1. Large-deformation Peristaltic Actuators

Soft, large-deformation actuators can mimic swallowing action, and gut function

2. Pneumatic and Hydraulic Actuators

Soft, flexible actuators, inspired by nature, that extend and move in multiple directions

3. High-efficiency Voice-Coil Motors

Powerful and fast electric motors, used in drug delivery devices and medical robots

4. High-efficiency Linear Synchronous Motors

Powerful, compact electric motors, suitable for medical devices and robotics systems

Collaborators

Current collaborators

New Zealand

USA

Germany

Future collaborators

We are looking to collaborate with:

  • Medical device manufacturers
  • Robotics companies
  • Surgical clinicians

Publications

Conference publications

2016

  1. Conceptualisation and Specification of a Biologically-Inspired, Soft-Bodied Gastric Robot
  2. Medically-inspired Approaches for the Analysis of Soft-robotic Motion Control
  3. Technical Requirements and Conceptualization of a Soft Pneumatic Actuator Inspired by Human Gastric Motility
  4. A Shoulder-mounted Robotic Exoskeleton for Rehabilitation of Temporomandibular Disorder via Assisted Motion of the Jaw
  5. A soft biomimetic tongue - model reconstruction and motion tracking
  6. PneuNet Based Control System for Soft Robotic Tongue

2015

  1. Optimization of Linear Permanent Magnet Synchronous Motors for Needle-free Jet Injection

Journal publications

2016

  1. Learnability of the Moving Surface Profiles of a Soft Robotic Sorting Table
  2. A Novel Soft Machine Table for Manipulation of Delicate Objects Inspired by Caterpillar Locomotion
  3. Large-Deformation Model of a Soft-bodied Esophageal Actuator Driven by Distributed Air Pressure
  4. Characterization of needle-assisted jet injection
  5. Thermodynamic Analyses Question Claims of Improved Cardiac Efficiency by Dietary Supplementation with Fish-Oil
  6. Analysis of Moving-Coil Actuator Jet Injectors for Viscous Fluids
  7. Multidirectional In Vivo Characterization of Skin using Wiener Nonlinear Stochastic System Identification Techniques
  8. 4D Imaging of Cardiac Trabeculae Contracting In Vitro using Gated OCT
  9. A Nanocomposite-based Stretchable Deformation Sensor Matrix for a Soft-bodied Swallowing Robot
  10. Esophageal Peristaltic Control of a Soft-bodied Swallowing Robot by Central Pattern Generator

2015

  1. Optimal, Efficient Sequential Control of a Soft-Bodied, Peristaltic Sorting Table
  2. Probabilistic Fuzzy Logic Signal and Ramp Metering at a Diamond Interchange
  3. Characterization of a Novel Collagen Scaffold for Corneal Tissue Engineering
  4. Real-time Aortic Pulse Wave Velocity Measurement during Exercise Stress Testing
  5. Analysis of Moving-Coil Actuator Jet Injectors for Viscous Fluids
  6. Needle-free Delivery of Macromolecules through the Skin Using Controllable Jet injectors
  7. Distributed-Torque-Based Independent Joint Tracking Control of a Redundantly Actuated Parallel Robot with Two Higher Kinematic Pairs
  8. Sinusoidal Peristaltic Waves in Soft Actuator for Mimicry of Esophageal Swallowing
  9. Optimal Distribution of the Actuating Torques for a Redundantly Actuated Masticatory Robot with Two Higher Kinematic Pairs