Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems

• Main Authors: Do, T. N., Tjahjowidodo, T., Lau, M. W. S., Yamamoto, T., Phee, S. J.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/99962; http://hdl.handle.net/10220/19540
• Institution: Nanyang Technological University

Tendon-sheath mechanism has “revolutionized” the use of flexible endoscopic systems, by its many advantages of high maneuverability, lightweight, low cost, and simple design. However, nonlinear phenomena such as friction and backlash hysteresis present major challenges for motion control of the tool...