Seong Hyo Ahn

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

In this paper, we present an analytical modeling approach to address the problem of tension loss in a generic variable curvature tendon-driven continuum manipulators (TD-CM) occurring due to the tendon-sheath distributed friction force. Despite the previous approaches in the literature, our presente…