Related Experiment Video
Updated: May 19, 2026
10:09
Operation of the Collaborative Composite Manufacturing (CCM) System
Published on: October 1, 2019
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
Summary
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.
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.
Related Concept Videos
01:23Simplification of a Force and Couple System: II
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
01:30Three-Dimensional Force System:Problem Solving
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
01:29Two-Dimensional Force System: Problem Solving
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
01:18Simplification of a Force and Couple System I
The concept of reducing a system of forces and couple moments to an equivalent system is essential in simplifying the analysis of rigid bodies. This reduction allows for more straightforward computation and understanding of the external effects produced by the system. In particular, systems with an equivalent resultant force and a resultant couple moment having perpendicular lines of action can be further reduced to a single equivalent resultant force acting along a new line of action. There...
01:05Static and Kinetic Frictional Force
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
01:15Kinematic Equations: Problem Solving
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...