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cs.RO2025
EndoForce: Development of an Intuitive Axial Force Measurement Device for Endoscopic Robotic Systems
Hansoul Kim, Dong-Ho Lee, Dukyoo Kong +2
Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force…
cs.RO2020
Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current
Dong-Ho Lee, Young-Ho Kim, Jarrod Collins +3
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerab…