A new approach of friction model for tendon-sheath actuated surgical systems : Nonlinear modelling and parameter identi fi cation

@inproceedings{Do2014ANA,
  title={A new approach of friction model for tendon-sheath actuated surgical systems : Nonlinear modelling and parameter identi fi cation},
  author={Thanh Nho Do and Tegoeh Tjahjowidodo and Michael Wai Shing Lau and Soo Jay Phee},
  year={2014}
}
Article history: Received 23 September 2013 Received in revised form 4 November 2014 Accepted 8 November 2014 Available online 22 November 2014 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 for a TSM in surgical robots. The model considers the… CONTINUE READING

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