000161282 001__ 161282
000161282 005__ 20190812205458.0
000161282 037__ $$aCONF
000161282 245__ $$aTendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling.
000161282 269__ $$a2010
000161282 260__ $$c2010
000161282 336__ $$aConference Papers
000161282 520__ $$aIncreased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incisions which are required in many sur- gical procedures. Tendon-based transmissions provide several important advantages for the mechanical design of miniaturized surgical devices. Reflected mass and inertia are reduced since tendon-based transmissions allow to locate the motors far apart from the actuated joint. In spite of providing several important advantages, they introduce several non linear effects that must be considered and modeled to achieve suitable performance. In this paper tendon-based transmission system for surgical robotics is illustrated. And nonlinear friction, due to direct sliding of synthetic fiber cables over small fixed pulleys (pins) is discussed and models aiming at compensating these nonlinearities are presented.
000161282 6531_ $$asurgical robotics
000161282 6531_ $$afriction model
000161282 6531_ $$aRobotic Surgery
000161282 6531_ $$aMicro manipulator
000161282 6531_ $$aRobotic Surgery
000161282 6531_ $$aDOE
000161282 700__ $$0242154$$g183554$$aBeira, Ricardo
000161282 700__ $$0242148$$g188789$$aSengül, Ali
000161282 700__ $$aHara, Masayuki
000161282 700__ $$g155115$$aSchoeneich, Patrick$$0242147
000161282 700__ $$0240027$$g104561$$aBleuler, Hannes
000161282 7112_ $$dOctober 14-16,2010$$cVenice, Italy$$aInternational Conference on Applied Bionics and Biomechanics (ICABB-2010)
000161282 8564_ $$zn/a$$yPreprint$$uhttps://infoscience.epfl.ch/record/161282/files/Paper.pdf$$s350542
000161282 909C0 $$pLSRO$$0252016
000161282 909CO $$pSTI$$ooai:infoscience.tind.io:161282$$qGLOBAL_SET$$pconf
000161282 917Z8 $$x188789
000161282 917Z8 $$x183566
000161282 917Z8 $$x183566
000161282 937__ $$aEPFL-CONF-161282
000161282 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000161282 980__ $$aCONF