SeongHyun Won

Adaptive Hybrid Control for Backlash-Like Hysteresis and Marker-Based Pose Estimation in Endoscopic Robots

Nonlinear backlash-like hysteresis in tendon-sheath mechanism based endoscopic surgical robots introduces significant motion errors, limiting precision in surgical tasks. Existing methods struggle to compensate for these errors in real time, particularly without relying on distal-end sensors. To add