Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current
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DOI: 10.1109/lra.2021.3057043
Abstract: Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have… read more here.
Keywords: non linear; hysteresis; motor current; sheath driven ... See more keywords