Dynamic Friction-Based Force Feedback for Tendon-Sheath Mechanism in NOTES System
Tendon-sheath mechanism (TSM) is commonly used in flexible endoscopic systems because of its high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors cannot be placed at the tool tips of robotic arms. In addition, nonl...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/79263 http://hdl.handle.net/10220/38781 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Tendon-sheath mechanism (TSM) is commonly
used in flexible endoscopic systems because of its high flexibility,
light weight, and easy transmission. Due to the size constraints
and sterilization problems, traditional sensors cannot be placed
at the tool tips of robotic arms. In addition, nonlinear friction
and backlash hysteresis cause many challenges to predict the
desired force when the system inside the human’s body. It is
extremely difficult to provide the force information to haptic
devices and subsequently to the users. In this paper, a new
scheme of dynamic friction model for a pair of TSMs is proposed
to estimate the force at distal end of endoscopic system. In
comparison with current approaches in the literature, our model
is able to provide continuous force information. The model is
able to predict distal force with any sheath shapes. An
experimental setup is designed to measure the friction force in
the TSM. Finally, the validity of the proposed model approach is
confirmed with a good agreement between the estimated values
and real experimental data. |
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