2017
A motion transmission model for multi-DOF tendon-driven mechanisms with hysteresis and coupling: Application to a da Vinci® instrument
IROS 2017poster
Tendon-driven mechanisms used in robotic surgery exhibit strong nonlinearities, particularly a static backlash-like hysteresis, in their motion transmission behavior. In this paper, an extension of a previously developed model is proposed that allows for estimation of angular displacements in multi-…