Dongchan Kim — accepted AI-conference papers

2024

Hysteresis Compensation of Tendon-Sheath Mechanism Using Nonlinear Programming Based on Preisach Model

Hongmin Kim, Dongchan Kim, Su Hyeon Park, Sangrok Jin

RA-L 2024

Tendon sheath mechanism (TSM) is an essential mechanical element for the implementation of flexible endoscopic systems owing to its small volume and simple structure. However, nonlinear characteristics, such as backlash, hysteresis and friction occur when employing such a component. In this study, w

Cited by 4 Source ↗Scholar ↗

2022

Recurrent Neural Network With Preisach Model for Configuration-Specific Hysteresis Modeling of Tendon-Sheath Mechanism

Dongchan Kim, Hongmin Kim, Sangrok Jin

RA-L 2022

The tendon-sheath mechanism (TSM) is widely used for flexible surgical robots owing to its ability to transfer motion through complicated paths and small volumes. However, precise motion control of the robots is difficult owing to the nonlinear characteristics of the TSM due to hysteresis, friction,

Cited by 27 Source ↗Scholar ↗