INTELLIMAN. WP4. Adaptive shared autonomy. T4_2. Advanced human-robot interaction modalities. Robotic endoscope. v0

The dataset is related to results of two key aspects of endoscope performance: tissue interaction and stiffness variation. Through a series of controlled experiments, the endoscope’s ability to interact with mock biological tissues is assessed, demonstrating successful force application using both agonistonly and antagonistic functioning modalities. Furthermore, the endoscope’s resilience to external disturbances is evaluated, with results showing significant improvements in stiffness and response to perturbations when utilizing antagonistic control. The data were produced in the framework of Horizon Europe INTELLIMAN project and are presented in the publication: E. Fratarcangeli et al., "Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation," 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 2024, pp. 867-872, doi: 10.1109/AIM55361.2024.10637078.