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  1. Home
  3. Friction Modeling Of Tendon-driven Continuum Robots Through Linear Complementarity Problem.
  1. Home
  3. Friction Modeling Of Tendon-driven Continuum Robots Through Linear Complementarity Problem.

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10:09

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Friction Modeling of Tendon-driven Continuum Robots through Linear Complementarity Problem.

Jia Shen1, Brendan Browne2, Junhyoung Ha3

  • 1George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta 30332 USA.

IEEE Robotics and Automation Letters
|May 18, 2026

View abstract on PubMed

Summary
This summary is machine-generated.

This study introduces a new friction model for tendon-driven continuum robots (TDCR) that accurately predicts hysteresis. This novel approach significantly improves TDCR positioning accuracy in medical applications.

Keywords:
Friction ModelingHysteresisLinear Complementarity ProblemTendon-driven Continuum Robot

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Medical Devices

Background:

  • Tendon-driven continuum robots (TDCR) offer dexterity for medical interventions.
  • Precise control is hindered by unaddressed tendon friction hysteresis.
  • Existing models fail to capture complex tendon-disk interactions and friction dynamics.

Purpose of the Study:

  • To develop a novel friction model for TDCR that accurately predicts hysteresis.
  • To improve motion planning and control accuracy in TDCR.
  • To address the open problem of friction-induced hysteresis in tendon-disk interactions.

Main Methods:

  • Incorporated the Capstan friction model as complementarity constraints.
  • Developed a model capturing continuous friction force changes and sticking-sliding transitions.
  • Formulated the friction model as a complementarity problem for numerical implementation.
  • Experimentally validated the approach on a simplified TDCR prototype.

    • Main Results:

    • The proposed model accurately predicts friction-induced hysteresis.
    • Reduced tip position error from 36.11 mm to 9.42 mm on a 402-mm robot.
    • Demonstrated superior performance compared to conventional sliding friction models.

    Conclusions:

    • The novel friction model enhances the precision of TDCR.
    • This work provides a foundation for more accurate motion planning and control of TDCR.
    • The developed model offers a significant advancement for robotic-assisted medical procedures.