Hyper-redundant endoscopic manipulator position compensation under external load

This paper focuses on determining the cable tension required for a cable-driven endoscopic manipulator to reach a given position under an external load at the end effector. The aim is to restore the initial position of the end effector without an external force. A simulation was performed using MATL...

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Autors principals:	Giacoppo Giuliano A., Schulze Eric, Pott Peter P.
Format:	Artigo
Idioma:	Inglês
Publicat:	De Gruyter 2024-09-01
Col·lecció:	Current Directions in Biomedical Engineering
Matèries:	cable driven manipulator mathematical model robot-assisted endoscopic surgery simulation
Accés en línia:	https://doi.org/10.1515/cdbme-2024-1075
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