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SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-Time Hysteresis Compensation Control
Junhyun Park1, Seonghyeok Jang1, Myeongbo Park1
1Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.
Background:
Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis.
Methods:
We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing.
Results:
Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task.
Conclusion:
The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance.
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