Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators

Liu, Yang; Ahn, Seong Hyo; Yoo, Uksang; Cohen, Alexander R.; Alambeigi, Farshid

doi:10.1109/iros45743.2020.9341171

Cited by 7 publications

(3 citation statements)

References 15 publications

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“…We speculate that the curvature of the vascular model may have influenced the pulling force. The frictional force can change according to the curvature ( 33 ). Our vascular model has several curvatures, and frictional force may have changed according to the changed vascular curvature as the stent moved.…”

Section: Discussionmentioning

confidence: 99%

Frictional force analysis of stent retriever devices using a realistic vascular model: Pilot study

et al. 2022

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ObjectiveTo date, no vascular model to analyze frictional forces between stent retriever devices and vessel walls has been designed to be similar to the real human vasculature. We developed a novel in vitro intracranial cerebrovascular model and analyzed frictional forces of three stent retriever devices.MethodsA vascular mold was created based on digital subtraction angiography of a patient's cerebral vessels. The vascular model was constructed using polydimethylsiloxane (PDMS, Dow Corning, Inc.) as a silicone elastomer. The vascular model was coated on its inner surface with a lubricating layer to create a low coefficient of friction (~0.037) to closely approximate the intima. A pulsatile blood pump was used to produce blood flow inside the model to approximate real vascular conditions. The frictional forces of Trevo XP, Solitaire 2, and Eric 4 were analyzed for initial and maximal friction retrieval forces using this vascular model. The total pulling energy generated during the 3 cm movement was also obtained.ResultsResults for initial retrieval force were as follows: Trevo, 0.09 ± 0.04 N; Solitaire, 0.25 ± 0.07 N; and Eric, 0.33 ± 0.21 N. Results for maximal retrieval force were as follows: Trevo, 0.36 ± 0.07 N; Solitaire, 0.54 ± 0.06 N; and Eric, 0.80 ± 0.13 N. Total pulling energy (N·cm) was 0.40 ± 0.10 in Trevo, 0.65 ± 0.10 in Solitaire, and 0.87 ± 0.14 in Eric, respectively.ConclusionsUsing a realistic vascular model, different stent retriever devices were shown to have statistically different frictional forces. Future studies using a realistic vascular model are warranted to assess SRT devices.

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Section: Discussionmentioning

confidence: 99%

Frictional force analysis of stent retriever devices using a realistic vascular model: Pilot study

et al. 2022

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“…The value of the system parameter kr needs to be selected according to the characteristics of the system. As indicated in (23), a small equivalent stiffness km reduces the sensitivity of the system, thereby causing system jitter. In addition, according to the identification results, excessive equivalent stiffness km leads to a significant deviation from the true value, so it is difficult for the system to cope with external interference.…”

Section: Fig6 Structural Diagram Of the Single Tstsmentioning

confidence: 99%

“…Farid et al [21]proposed the GMS model based on the Lugre friction model [22] and successfully described the hysteresis and slip characteristics of the tendon sheath while ensuring simulation speed. Liu et al described the distribution of friction force in a general tendon sheath through analytical modeling, experimentally simulated the transmission performance of two-dimensional tendon sheath [23], and evaluated the accuracy of the model, but this method involved a large computation load. Chen L et al established the static and dynamic models of TSTS based on the Coulomb friction model and Lugre friction model and proposed a more practical off-line identification method for identifying the parameters of TSTS [24].…”

Section: Introductionmentioning

confidence: 99%

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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A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

Liu,

Kim,

Kulkarni

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators

Cited by 7 publications

References 15 publications

Frictional force analysis of stent retriever devices using a realistic vascular model: Pilot study

Frictional force analysis of stent retriever devices using a realistic vascular model: Pilot study

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

A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

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