Enhanced performances for cable-driven flexible robotic systems with asymmetric backlash profile

Nho, Thanh; Tjahjowidodo, Tegoeh; Lau, Michael Wai Shing; Phee, Soo Jay

doi:10.1109/tepra.2015.7219674

Cited by 7 publications

(5 citation statements)

References 36 publications

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“…The main advantages of this approach are high accuracy and noise reduction ability. In addition, the disturbances and uncertainties like the change of cable configuration and external force from operation environment are completely eliminated using nonlinear and adaptive control schemes 54,55,57,60,65,66,122,124 . However, it is still complex in terms of construction, calculation, and needs feedback information like position and force that are challenging in surgical robots.…”

Section: Modelling and Controlmentioning

confidence: 99%

A survey on actuators-driven surgical robots

Nho

Phee

2016

Sensors and Actuators A: Physical

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160

107

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Section: Modelling and Controlmentioning

confidence: 99%

A survey on actuators-driven surgical robots

Nho

Phee

2016

Sensors and Actuators A: Physical

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160

107

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“…These control problems can be mitigated by the introduction of a robotic controller which intelligently compensates for nonlinear and hysteretic friction effects [12][13][14][15][16]. Friction losses can also severely degrade the output force, so to maintain the payload of the end effectors for tissue manipulation, motorised actuation is desirable [10,[16][17][18].…”

Section: Robotic Endoscopy Systemsmentioning

confidence: 99%

Flexible Robotic Endoscopy Systems and the Future Ahead

Seah

Nho

Takeshita

et al. 2018

Clinical Gastroenterology

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Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon sheath mechanisms are the current state of the art. Robotics in surgical endoscopy enables an ergonomic mapping of the surgeon movements to remotely control the slave arms as well as facilitating tissue manipulation. The learning curve for difficult procedures such as endoscopic submucosal dissection and full-thickness resection can be significantly reduced. Improved surgical outcomes are also observed from clinical and pre-clinical trials. The technology behind master-slave surgical robotics will continue to mature, with the addition of position and force sensors enabling better control and tactile feedback. More robotic assisted gastrointestinal (GI) luminal and Natural Orifice Transluminal Endoscopic Surgery (NOTES) systems are expected to be conducted in future, and gastroenterologists will have a key collaborative role to play.

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“…It is adapted to a robotic system and its performance is observed. In [8], performance analysis of a cable driven flexible robotic systems are studied. Asymmetric backlash profiles are taken into account in order to make enhancement in performances.…”

Section: Literature Reviewmentioning

confidence: 99%

Theoretical and experimental investigation of backlash effects on a 2-DOF robotic balancing table

Bayar

2017

mech

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Enhanced performances for cable-driven flexible robotic systems with asymmetric backlash profile

Cited by 7 publications

References 36 publications

A survey on actuators-driven surgical robots

A survey on actuators-driven surgical robots

Flexible Robotic Endoscopy Systems and the Future Ahead

Theoretical and experimental investigation of backlash effects on a 2-DOF robotic balancing table

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