4 papers
SSTL: Self-Sensing Tendon Loop for Hysteresis Modeling and Compensation in Tendon-Sheath Mechanisms
Myeongbo Park, Junhyun Park, Ihsan Ullah +2
Flexible endoscopic robots enable minimally invasive access through natural orifices, but their control accuracy is limited by configuration-dependent hysteresis in the tendon-shea…
Markerless 6D Pose Estimation and Position-Based Visual Servoing for Endoscopic Continuum Manipulators
Junhyun Park, Chunggil An, Myeongbo Park +3
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control rem…
Vibration-Assisted Hysteresis Mitigation for Achieving High Compensation Efficiency
Myeongbo Park, Chunggil An, Junhyun Park +2
Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis-caused by friction, backlash, and tendon elongation…
SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
Junhyun Park, Seonghyeok Jang, Myeongbo Park +3
Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM wi…