Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy
Olalekan Ogunmolu,Xinmin Liu,Nicholas Gans,Rodney D. Wiersma,Olalekan Ogunmolu,Xinmin Liu,Nicholas Gans,Rodney D. Wiersma
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the soft actuators control the position of the patient's cranial region on a treatment machine. We describe the mechanism, derive the stress-strain constitutive laws...
