Cable-driven soft continuum robots are important tools in minimally invasive surgery (MIS) to reduce the lesions, pain and risk of infection. The feasibility of employing deep reinforcement learning (DRL) for controlling cable-driven continuum robots has been investigated; however, a considerable gap...
Cable-driven Continuum Robots (CCRs) represent a subset of flexible robotic systems with diverse applications encompassing medical, quality control, and search and rescue. Multi-segmented CCRs can independently actuate different CCR segments and deform into a series of connected circular arcs. While this...
To improve thetransient response, accuracy and robustness of trajectory tracking control for cable-driven continuum robots (CDCRs), a recursive integral terminalsliding mode controlcombined with an adaptive disturbance observer (ADO-RITSMC) is proposed. The recursive integral terminalsliding mode control(...
Cable-driven parallel robots (CDPRs) use cables instead of the rigid limbs of traditional parallel robots, thus processing a large potential workspace, easy to assemble and disassemble characteristics, and with applications in numerous fields. However, owing to the influence of cable flexibility and ...
Cable-driven soft robots hold significant potential for surgical and industrial applications, yet their performance and maneuverability can be further enha... TA Khalil,S Habib,SG Seadby,... - 《International Journal of Advanced Robotic Systems》 被引量: 0发表: 2024年 Optimal Joint Space Control...
Modeling of Cable-Driven Continuum Robots with Multiple Generally Routed Cables Cable-driven continuum robots (CCR) are increasingly gaining traction in a wide array of practical applications when compared to their rigid-link counterpa... SK Mahapatra,A Ghosal - International & National Conference on...
The cable-driven manipulators with pure rolling joints (CDM-PRJs) belong to the class of rigid–flexible coupling manipulators [7,8], combining the flexibility of continuum robots with the high stiffness of conventional industrial manipulators. However, the kinematic modeling of CDM-PRJs, especially...
When it comes to hyper-redundant robots, this kind of joint actu... Y Bulut,ES Conkur - 《Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science》 被引量: 0发表: 2021年 Research through design of a one-dimensional cable-rod deployable mechanism...
A survey on actuators-driven surgical robots Journal2016,Sensors and Actuators A: Physical Huu MinhLe, ...Soo JayPhee Abstract Robot-assisted surgeries have been integrated and leading to a paradigm shift in surgical fields. With the emergence of Minimally Invasive Surgery (MIS), especially Natural...
The evaluation of the performances of cable driven robots must explicitly take into account the considerable limitations introduced by cable tension bilateral bounds, translating the physical need that neither negative nor limitless cabl... G Boschetti,A Trevisani 被引量: 3发表: 2015年 New Jacobian ...