Learning Fingertip Force to Grasp Deformable Objects for Soft Wearable Robotic Glove With TSM

Rho, Eojin; Kim, Daekyum; Lee, Ho-Chang; Jo, Sungho

doi:10.1109/lra.2021.3102968

Cited by 8 publications

(3 citation statements)

References 19 publications

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“…According to (7) and (8), the transmission characteristics of a single tendon sheath are determined by the total curvature of the outer sheath, elastic modulus of the inner tendon, friction coefficient, transmission direction, load stiffness, etc.…”

Section: Fig1 Force Analysis Of Tendon Sheath Microelementmentioning

confidence: 99%

“…Both the rope and the sleeve are flexible, so the TSTS has the flexible transmission path and simple structure and can transmit power over a long distance [1], [2]. In recent years, TSTSs have been applied in some fields such as pipeline surgical robots [3], [4], continuum robots [5]- [7], and exoskeleton robots [8]- [11]. However, the friction between the outer sheath and the inner tendon, as well as the elastic deformation generated by the TSTS, results in nonlinear transmission characteristics such as displacement clearance, deadband, and hysteresis of the tendon sheath [12], so the transmission accuracy of the TSTS and its application in high-precision transmission situations are largely limited [13], [14].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Sliding Mode Compensation Control for the Tendon Sheath Based on Inverse Model

Yang

Xia

Zhang

et al. 2023

Preprint

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Tendon sheath transmission system (TSTS) has been widely adopted in many cases due to its characteristics of simple structure, flexible transmission path, and applicability for long-distance power transmission. However, the characteristics of displacement gap and hysteresis inside the tendon sheath seriously hinder its transmission accuracy. In this paper, the static and dynamic models of TSTS were established and experimentally verified. Then, the sliding mode compensation control (SMCC) based on the inverse model has been proposed. In SMCC, with the displacement of the actuation side as a feedback signal, compensation control was realized and its stability and accuracy was experimentally verified. In addition, the perturbation of system parameters might decrease the optimal working performance of the sliding mode controller. Therefore, an adaptive sliding mode compensation control (ASMCC) based on an inverse model was proposed. The adaptive control algorithm was used to estimate the dynamic parameters of the system online and combined with the sliding mode controller to achieve the adaptive compensation control. Finally, compensation control experiments were separately conducted with/without interference and the performance of PID, SMC, and ASMC algorithms was experimentally compared. Under two experimental conditions with/without interference, compared to PID compensation control (PIDCC), SMC algorithm respectively decreased the system output force (MAE value) by 26.57% and 56.38%. Compared with SMCC, ASMCC respectively reduced the MAE value of the system output force by 22.34% and 11.14%. Comparative experiments confirmed the feasibility and performance of ASMCC in tendon sheath transmission.

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Section: Fig1 Force Analysis Of Tendon Sheath Microelementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Compensation Control for the Tendon Sheath Based on Inverse Model

Yang

Xia

Zhang

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…(Burgner-Kahrs et al, 2015 ; Do et al, 2015a , 2016 ; Kang et al, 2020 ; Yin et al, 2020 ; Wang et al, 2023 ). The flexible characteristics of TSM make it highly versatile and applicable in narrow scenarios (Berthet-Rayne et al, 2018 ; Wang et al, 2020 , 2021 ; Rho et al, 2021 ). Consequentially, numerous studies have focused on the application of TSM in the field of tendon-sheath actuated bending-tip (TAB) systems for natural orifice transluminal endoscopic surgeries (NOTES) as shown in Figure 1 in which bronchi is provided by Servier Medical Art ( https://smart.servier.com ) under CC BY 3.0 license.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy control for tendon-sheath actuated bending-tip system with unknown friction for robotic flexible endoscope

Ren,

Wang,

et al. 2024

Front. Neurosci.

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IntroductionThe tendon-sheath actuated bending-tip system (TAB) has been widely applied to long-distance transmission scenes due to its high maneuverability, safety, and compliance, such as in exoskeleton robots, rescue robots, and surgical robots design. Due to the suitability of operation in a narrow or tortuous environment, TAB has demonstrated great application potential in the area of minimally invasive surgery. However, TAB involves highly non-linear behavior due to hysteresis, creepage, and non-linear friction existing on the tendon routing, which is an enormous challenge for accurate control.MethodsConsidering the difficulties in the precise modeling of non-linearity friction, this paper proposes a novel fuzzy control scheme for the Euler-Lagrange dynamics model of TAB for achieving tracking performance and providing accurate friction compensation. Finally, the asymptotic stability of the closed-loop system is proved theoretically and the effectiveness of the controller is verified by numerical simulation carried out in MATLAB/Simulink.ResultsThe desired angle can be reached quickly within 3 s by adopting the proposed controller without overshoot or oscillation in Tracking Experiment, demonstrating the regulation performance of the proposed control scheme. The proposed method still achieves the desired trajectory rapidly and accurately without steady-state errors in Varying-friction Experiment. The angle errors generated by external disturbances are < 1 deg under the proposed controller, which returns to zero in 2 s in Anti-disturbance Experiment. In contrast, comparative controllers take more time to be steady and are accompanied by oscillating and residual errors in all experiments.DiscussionThe proposed method is model-free control and has no strict requirement for the dynamics model and friction model. It is proved that advanced tracking performance and real-time response can be guaranteed under the presence of unknown bounded non-linear friction and time-varying non-linear dynamics.

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Advancements in Hand Health Management: Real-Time Monitoring and Assessment with a Wearable Sensory Glove

Khan,

Tabrizi,

Zareinia

2023

2023 IEEE 2nd International Conference on Industrial Electronics: Developments &Amp; Applications (ICIDeA)

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Learning Fingertip Force to Grasp Deformable Objects for Soft Wearable Robotic Glove With TSM

Cited by 8 publications

References 19 publications

Adaptive Sliding Mode Compensation Control for the Tendon Sheath Based on Inverse Model

Adaptive Sliding Mode Compensation Control for the Tendon Sheath Based on Inverse Model

Adaptive fuzzy control for tendon-sheath actuated bending-tip system with unknown friction for robotic flexible endoscope

Advancements in Hand Health Management: Real-Time Monitoring and Assessment with a Wearable Sensory Glove

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