Analysis of Twist Deformation in Wire-driven Continuum Surgical Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-018-0400-7
Abstract: Wire-driven continuum surgical robots are attracting significant interest in minimally invasive surgeries owing to their high dexterity level and miniaturization. However, twist deformation due to the external force at the end effector decreases the accuracy… read more here.
Keywords: driven continuum; robot; twist deformation; deformation ... See more keywords
Synergy-Based Analytical Design of Wire-Driven Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191228
Abstract: This letter discusses the design for wire-driven continuum manipulators. To achieve multiple desired postures, a novel design method that analytically determines the mechanism and control parameters of the manipulator is proposed. First, by introducing a… read more here.
Keywords: continuum manipulators; wire driven; driven continuum; design wire ... See more keywords
Corrigendum: Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer
Sign Up to like & getrecommendations! Published in 2018 at "Frontiers in Neurology"
DOI: 10.3389/fneur.2018.00511
Abstract: [This corrects the article DOI: 10.3389/fneur.2017.00646.]. read more here.
Keywords: sliding mode; corrigendum sliding; tracking control; mode tracking ... See more keywords