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A survey on hysteresis modeling, identification and control
The various mathematical models for hysteresis such as Preisach, Krasnosel’skii–Pokrovskii (KP), Prandtl–Ishlinskii (PI), Maxwell-Slip, Bouc–Wen and Duhem are surveyed in terms of their applicationsExpand
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Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems
Abstract 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,Expand
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An investigation of friction-based tendon sheath model appropriate for control purposes
Abstract The tendon sheath mechanism plays an important role in many robotic systems from surgical devices to robot hands. However, many unexpected properties such as nonlinear hysteresis andExpand
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Real-time enhancement of tracking performances for cable-conduit mechanisms-driven flexible robots
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex operations via natural orifices without skin incisions. Its main tool is a flexible endoscope.Expand
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Stretchable, Twisted Conductive Microtubules for Wearable Computing, Robotics, Electronics, and Healthcare
TLDR
We describe highly elastic sensors and interconnects formed from thin, twisted conductive microtubules that can operate as multimodal sensors for strain, rotation, contact force, or contact location. Expand
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A survey on actuators-driven surgical robots
Abstract Robot-assisted surgeries have been integrated and leading to a paradigm shift in surgical fields. With the emergence of Minimally Invasive Surgery (MIS), especially Natural OrificeExpand
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A new approach of friction model for tendon-sheath actuated surgical systems: Nonlinear modelling and parameter identification
Abstract 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 criticalExpand
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Modelling, design, and control of a robotic running foot for footwear testing with flexible actuator
Footwear effects on the human feet have been widely studied to prevent injuries, improve sports performance, and human health through running exercise. Due to the dynamics of human joints and passiveExpand
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Future of Flexible Robotic Endoscopy Systems
TLDR
Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. Expand
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