SSTL uses a looped tendon sharing the actuation path to proximally sense correlated tension profiles, enabling a learning-based feedforward controller that reduces hysteresis RMSE by 88.1% across tested configurations.
Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots
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SSTL: Self-Sensing Tendon Loop for Hysteresis Modeling and Compensation in Tendon-Sheath Mechanisms
SSTL uses a looped tendon sharing the actuation path to proximally sense correlated tension profiles, enabling a learning-based feedforward controller that reduces hysteresis RMSE by 88.1% across tested configurations.