TY - JOUR
T1 - Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry
AU - Liu, Yang
AU - Yoo, Uksang
AU - Ha, Seungbeom
AU - Atashzar, S. Farokh
AU - Alambeigi, Farshid
N1 - Funding Information:
and Bioengineering of the National Institutes of Health under Award Number R21EB030796.
Publisher Copyright:
© 1996-2012 IEEE.
PY - 2022/10/1
Y1 - 2022/10/1
N2 - In this article, we thoroughly analyze the effect of the single-tendon and antagonistic tendons actuation on the tension loss of multisegment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic analytical modeling approach and an iterative algorithm that can solve the unknown correlation between the distributed friction force, tendons' tension transmission loss, and planar deformation behavior of TD-CMs during tendons' pulling and releasing phases. The proposed generic model solely relies on known input tendons' tensions and does not require a priori knowledge of the manipulator's shape and/or other experimental conditions. To investigate the influence of the actuation type on the tension loss and deformation behavior of TD-CMs, we fabricated two different TD-CMs and performed various simulation and experimental studies with the single-tendon and antagonistic tensions actuation. The obtained results indicate the importance of considering the effect of the distributed friction force and actuation type on the tension(s) loss of multisegment TD-CMs. Moreover, it clearly demonstrates the efficacy and accuracy of the proposed model in providing insights and understanding of tension transmission process in various types of actuations in multisegment TD-CMs with irregular geometry.
AB - In this article, we thoroughly analyze the effect of the single-tendon and antagonistic tendons actuation on the tension loss of multisegment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic analytical modeling approach and an iterative algorithm that can solve the unknown correlation between the distributed friction force, tendons' tension transmission loss, and planar deformation behavior of TD-CMs during tendons' pulling and releasing phases. The proposed generic model solely relies on known input tendons' tensions and does not require a priori knowledge of the manipulator's shape and/or other experimental conditions. To investigate the influence of the actuation type on the tension loss and deformation behavior of TD-CMs, we fabricated two different TD-CMs and performed various simulation and experimental studies with the single-tendon and antagonistic tensions actuation. The obtained results indicate the importance of considering the effect of the distributed friction force and actuation type on the tension(s) loss of multisegment TD-CMs. Moreover, it clearly demonstrates the efficacy and accuracy of the proposed model in providing insights and understanding of tension transmission process in various types of actuations in multisegment TD-CMs with irregular geometry.
KW - Distributed friction force
KW - medical robots and systems
KW - tendon-driven continuum manipulators (TD-CMs)
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U2 - 10.1109/TMECH.2021.3112580
DO - 10.1109/TMECH.2021.3112580
M3 - Article
AN - SCOPUS:85117303223
SN - 1083-4435
VL - 27
SP - 2418
EP - 2428
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 5
ER -