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Article: Elongation Modeling and Compensation for the Flexible Tendon-Sheath System

TitleElongation Modeling and Compensation for the Flexible Tendon-Sheath System
Authors
Issue Date2014
Citation
IEEE/ASME Transactions on Mechatronics, 2014, v. 19, p. 1243-1250 How to Cite?
AbstractIn tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy.
Persistent Identifierhttp://hdl.handle.net/10722/209796

 

DC FieldValueLanguage
dc.contributor.authorSun, ZLen_US
dc.contributor.authorWang, Zen_US
dc.contributor.authorPhee, SJen_US
dc.date.accessioned2015-05-18T03:23:58Z-
dc.date.available2015-05-18T03:23:58Z-
dc.date.issued2014en_US
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2014, v. 19, p. 1243-1250en_US
dc.identifier.urihttp://hdl.handle.net/10722/209796-
dc.description.abstractIn tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy.en_US
dc.languageengen_US
dc.relation.ispartofIEEE/ASME Transactions on Mechatronicsen_US
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License ©2014 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.titleElongation Modeling and Compensation for the Flexible Tendon-Sheath Systemen_US
dc.typeArticleen_US
dc.identifier.emailWang, Z: zwangski@hku.hken_US
dc.identifier.authorityWang, Z=rp01915en_US
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/TMECH.2013.2278613en_US
dc.identifier.hkuros243334en_US
dc.identifier.volume19en_US
dc.identifier.spage1243en_US
dc.identifier.epage1250en_US

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