Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Simplification of a Force and Couple System: II01:23

Simplification 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...
Three-Dimensional Force System:Problem Solving01:30

Three-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...
Two-Dimensional Force System: Problem Solving01:29

Two-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...
Simplification of a Force and Couple System I01:18

Simplification 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...
Static and Kinetic Frictional Force01:05

Static 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...
Kinematic Equations: Problem Solving01:15

Kinematic 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...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Harnessing metabolic dependence-driven antibiotic synergy to eradicate tolerant Pseudomonas aeruginosa.

The Journal of antimicrobial chemotherapy·2026
Same author

Anterior lateral motor cortex enables contextual decision-making via dynamic reconfiguration of local circuits.

Cell reports·2026
Same author

Modified langendorff-free method for isolating cardiomyocytes and non-cardiomyocytes from adult mice.

BMC biotechnology·2026
Same author

PPL<sup>+</sup> Cholangiocytes Define a Pro-Regenerative Subset Associated With NRG1-ERBB3-PI3K/AKT Signalling During Liver Fibrosis.

Liver international : official journal of the International Association for the Study of the Liver·2026
Same author

Two birds with one stone: Targeting METTL3 ameliorates doxorubicin-induced endothelial premature senescence and atherosclerosis while potentiating its antitumor efficacy.

Free radical biology & medicine·2026
Same author

MiR-144 Regulates Cognitive Dysfunction via NLRP3 Inflammasome and FoxO1/AdipoR Pathway in T2DM Mice.

Molecular neurobiology·2026
Same journal

Using Robotics to Improve Transcatheter Edge-to-Edge Repair of the Mitral Valve.

IEEE robotics and automation letters·2026
Same journal

Value Explicit Pretraining for Learning Transferable Representations.

IEEE robotics and automation letters·2026
Same journal

Continuum Robot Segments with High Output Stiffness via Diagonal Backbones.

IEEE robotics and automation letters·2026
Same journal

Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses.

IEEE robotics and automation letters·2026
Same journal

Validation of Dynamic Bayesian Optimization for a Non-Stationary Human-in-the-Loop Optimization Problem.

IEEE robotics and automation letters·2026
Same journal

Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots using Cosserat Rod Dynamics with Strain Parametrization.

IEEE robotics and automation letters·2026
See all related articles

Related Experiment Video

Updated: May 19, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System
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
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

More Related Videos

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
09:32

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

Engineering Tendon Assembloids to Probe Cellular Crosstalk in Disease and Repair
08:32

Engineering Tendon Assembloids to Probe Cellular Crosstalk in Disease and Repair

Published on: March 22, 2024

Related Experiment Videos

Last Updated: May 19, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System
10:09

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
09:32

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

Engineering Tendon Assembloids to Probe Cellular Crosstalk in Disease and Repair
08:32

Engineering Tendon Assembloids to Probe Cellular Crosstalk in Disease and Repair

Published on: March 22, 2024

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.