Su Hyeon Park

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

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