SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
<|reference_start|>SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm: Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Convolutional Network (TCN) based on data collected from fiducial markers and RGBD sensing. 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. The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behavior and minimizes position and joint angle errors in real-time, which has the potential to enhance surgical task performance.<|reference_end|>
@article{park2024sam:,
    title={SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and
  Real-time Hysteresis Compensation Control Algorithm},
    author={Junhyun Park, Seonghyeok Jang, Myeongbo Park, Hyojae Park, Jeonghyeon
  Yoon, Minho Hwang},
    journal={arXiv preprint arXiv:2406.18388},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.18388},
    primaryClass={cs.RO cs.AI}
}