Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
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
Development of a Novel Tendon Sheath-Driven Upper Limb Exoskeleton with Elastic Joints for Assisting Surgeon Performing Microlaryngoscopic Surgery
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4064636
Abstract: When performing microlaryngoscope surgery, surgeons must maintain their arm positions for a long time, which can cause arm soreness and affect the success rate of surgery. In this study, a novel tendon-sheath-driven upper limb exoskeleton… read more here.
Keywords: surgery; control; tendon sheath; novel tendon ... See more keywords