Data augmentation for design of concentric tube continuum robots by generative adversarial networks

PAMM, vol. 23

Abstract

Abstract Concentric tube continuum robots are a promising type of robot for various medical applications. Their application in neurosurgery poses challenging requirements for design and control that can be addressed by physics‐informed data‐based approaches. A prerequisite to data‐based modeling is an informative, rich data set. However, limited access to experimental data raises interest in partially or entirely synthetic data sets. In this contribution, we study the application of generative adversarial networks (GANs) for data augmentation in a data‐based design process of such robots. We propose a GAN framework suitable for curve‐fitting to generate synthetic trajectories of robots along with their corresponding control parameters. Our evaluation shows that the GANs can efficiently produce meaningful synthetic trajectories and control parameter pairs that show a good agreement with simulated trajectories.

Authors 7

1. Matthias K. Hoffmann

   Technische Universität Ilmenau · Deutsche Forschungsgemeinschaft

   Affiliation as printed

   Technische Universitat Ilmenau , Ilmenau , 98693 , Germany

   501928699, 501877598, 461953135

   Funding information German Research Foundation, Grant

   Technische Universitat Ilmenau, Ilmenau, 98693, Germany

2. Rutwik Gulakala Aachen Institute of General Mechanics

   RWTH Aachen University

   Affiliation as printed

   Institute of General Mechanics RWTH Aachen University Aachen Germany

   Institute of General Mechanics, RWTH Aachen University, Aachen, Germany

3. Julian Mühlenhoff corresponding

   Technische Universität Ilmenau

   Affiliation as printed

   Mechatronics Group Technische Universität Ilmenau Ilmenau Germany

4. Zhaoheng Ding

   Technische Universität Ilmenau

   Affiliation as printed

   Mechatronics Group Technische Universität Ilmenau Ilmenau Germany

5. Thomas Sattel

   Technische Universität Ilmenau

   Affiliation as printed

   Mechatronics Group Technische Universität Ilmenau Ilmenau Germany

6. Marcus Stoffel Aachen Institute of General Mechanics

   RWTH Aachen University

   Affiliation as printed

   Institute of General Mechanics RWTH Aachen University Aachen Germany

   Institute of General Mechanics, RWTH Aachen University, Aachen, Germany

7. Kathrin Flaßkamp

   Saarland University

   Affiliation as printed

   Systems Modeling and Simulation Saarland University Saarbrücken Germany