A new approach of friction model for tendon-sheath actuated surgical systems : nonlinear modelling and parameter identification

• Main Authors: Do, T. N., Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics
• Online Access: https://hdl.handle.net/10356/102415; http://hdl.handle.net/10220/24237
• Institution: Nanyang Technological University

Nonlinear friction in tendon-sheath mechanism (TSM) introduces difficulties in predicting the end-effector force inside the human body during surgical procedures. This brings a critical challenge for surgical robots that need high fidelity in haptic devices. This paper presents a new friction model...