%0 Book Section %1 wnuk2021challenges %A Wnuk, Markus %A Jaensch, Florian %A Tomzik, David Adrian %A Chen, Zixiao %A Terfurth, Jonathan %A Kandasamy, Sivakumar %A Shahabi, Jalil %A Garrett, Amy %A Mahmoudinezhad, Masoumeh Hesam %A Csiszar, Akos %A Xu, Weiliang %A Röhrle, Oliver %A Verl, Alexander %D 2021 %E Billingsley, John %E Peter, Brett %I Springer %K grk2198 isw soft-tissue-robotics xjh xwk %P 245-262 %R https://doi.org/10.1007/978-3-030-43703-9_20 %T Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice. %U https://link.springer.com/chapter/10.1007/978-3-030-43703-9_20 %V Mechatronics and Machine Vision in Practice 4 %X Manipulating soft materials with robots is a complex and highly interdisciplinary research topic. Due to the underlying body of involved theories including material science, (bio-)mechanics, control, sensing as well as electrical and mechanical engineering, it is even difficult to provide a comprehensive problem formulation. In this paper, the problem of identifying challenges within the different research areas and between their respective interfaces is addressed with a practical case study. Based on a generalized sandbox scenario of a remotely controlled drawing robot, challenges with regard to the interdisciplinary research fields of robot control, architecture, sensor development, material modelling and interaction between rigid actuators acting on soft materials are investigated and analyzed. The major contribution of this paper is the explicit identification of unresolved research problems in the field and a quantification of the correlations between the involved disciplines. Furthermore, novel approaches on how to circumvent some of the found challenges in the future are proposed. %@ 978-3-030-43702-2

@inbook{wnuk2021challenges, abstract = {Manipulating soft materials with robots is a complex and highly interdisciplinary research topic. Due to the underlying body of involved theories including material science, (bio-)mechanics, control, sensing as well as electrical and mechanical engineering, it is even difficult to provide a comprehensive problem formulation. In this paper, the problem of identifying challenges within the different research areas and between their respective interfaces is addressed with a practical case study. Based on a generalized sandbox scenario of a remotely controlled drawing robot, challenges with regard to the interdisciplinary research fields of robot control, architecture, sensor development, material modelling and interaction between rigid actuators acting on soft materials are investigated and analyzed. The major contribution of this paper is the explicit identification of unresolved research problems in the field and a quantification of the correlations between the involved disciplines. Furthermore, novel approaches on how to circumvent some of the found challenges in the future are proposed.}, added-at = {2021-01-13T10:43:47.000+0100}, author = {Wnuk, Markus and Jaensch, Florian and Tomzik, David Adrian and Chen, Zixiao and Terfurth, Jonathan and Kandasamy, Sivakumar and Shahabi, Jalil and Garrett, Amy and Mahmoudinezhad, Masoumeh Hesam and Csiszar, Akos and Xu, Weiliang and Röhrle, Oliver and Verl, Alexander}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/289b584cc0357ca5fa11664a03db695fb/isw-bibliothek}, doi = {https://doi.org/10.1007/978-3-030-43703-9_20}, editor = {Billingsley, John and Peter, Brett}, interhash = {18ab44005c160fdff424ef080870ac1b}, intrahash = {89b584cc0357ca5fa11664a03db695fb}, isbn = {978-3-030-43702-2}, keywords = {grk2198 isw soft-tissue-robotics xjh xwk}, pages = {245-262}, publisher = {Springer}, timestamp = {2021-01-13T09:47:39.000+0100}, title = {Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice.}, url = {https://link.springer.com/chapter/10.1007/978-3-030-43703-9_20}, volume = {Mechatronics and Machine Vision in Practice 4}, year = 2021 }