scholarly journals Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1301
Author(s):  
Haoting Wu ◽  
Meng Yin ◽  
Zhigang Xu ◽  
Zhiliang Zhao ◽  
Wei Han
Keyword(s):  
Real Time ◽  
Physical Simulation ◽  
Tendon Sheath ◽  
Transmission System ◽  
Transmission Model ◽  
Transfer Model ◽  
Transmission Characteristics ◽  
Long Distance ◽  
External Interference ◽  
Compensation Control

The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a real-time position compensation control method based on flexible cable deformation is proposed. A double tendon-sheath transmission model is established, a double tendon-sheath torque transmission model under any load condition is derived, and a semi-physical simulation experimental platform composed of a motor, a double tendon-sheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a real-time closed-loop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.

scholarly journals Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

2020 ◽  
Vol 12 (3) ◽  
pp. 168781402090456
Author(s):  
Xiaohong Jia ◽  
Yongde Zhang ◽  
Jingang Jiang ◽  
Haiyan Du ◽  
Yan Yu
Keyword(s):  
Force Measurement ◽  
Tendon Sheath ◽  
Transmission System ◽  
Friction Model ◽  
Superior Performance ◽  
The Novel ◽  
Transmission Characteristics ◽  
Long Distance ◽  
Magnetic Resonance Imaging Mri ◽  
Improved Accuracy

Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements.

Transmission Model and Compensation Control of Double-Tendon-Sheath Actuation System

2015 ◽  
Vol 62 (3) ◽  
pp. 1599-1609 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Lin Chen ◽  
Fengpo Du
Keyword(s):  
Tendon Sheath ◽  
Transmission Model ◽  
Compensation Control ◽  
Actuation System

45. Education at distance: Broadcasting ECG rounds to Southeastern Ontario (BESO Project). An innovative approach for teaching electrocardiography

2007 ◽  
Vol 30 (4) ◽  
pp. 51 ◽  
Author(s):  
A. Baranchuk ◽  
G. Dagnone ◽  
P. Fowler ◽  
M. N. Harrison ◽  
L. Lisnevskaia ◽  
...  
Keyword(s):  
Health Care ◽  
Real Time ◽  
Digital Signal ◽  
Teaching Methodology ◽  
Care Providers ◽  
Long Distance ◽  
Medicine Clerkship ◽  
Time Problem ◽  
The Impact ◽  
Ecg Interpretation

Electrocardiography (ECG) interpretation is an essential skill for physicians as well as for many other health care professionals. Continuing education is necessary to maintain these skills. The process of teaching and learning ECG interpretation is complex and involves both deductive mechanisms and recognition of patterns for different clinical situations (“pattern recognition”). The successful methodologies of interactive sessions and real time problem based learning have never been evaluated with a long distance education model. To evaluate the efficacy of broadcasting ECG rounds to different hospitals in the Southeastern Ontario region; to perform qualitative research to determine the impact of this methodology in developing and maintaining skills in ECG interpretation. ECG rounds are held weekly at Kingston General Hospital and will be transmitted live to Napanee, Belleville, Oshawa, Peterborough and Brockville. The teaching methodology is based on real ECG cases. The audience is invited to analyze the ECG case and the coordinator will introduce comments to guide the case through the proper algorithm. Final interpretation will be achieved emphasizing the deductive process and the relevance of each case. An evaluation will be filled out by each participant at the end of each session. Videoconferencing works through a vast array of internet LANs, WANs, ISDN phone lines, routers, switches, firewalls and Codecs (Coder/Decoder) and bridges. A videoconference Codec takes the analog audio and video signal codes and compresses it into a digital signal and transmits that digital signal to another Codec where the signal is decompressed and retranslated back into analog video and audio. This compression and decompression allows large amounts of data to be transferred across a network at close to real time (384 kbps with 30 frames of video per second). Videoconferencing communication works on voice activation so whichever site is speaking has the floor and is seen by all the participating sites. A continuous presence mode allows each site to have the same visual and audio involvement as the host site. A bridged multipoint can connect between 8 and 12 sites simultaneously. This innovative methodology for teaching ECG will facilitate access to developing and maintaining skills in ECG interpretation for a large number of health care providers. Bertsch TF, Callas PW, Rubin A. Effectiveness of lectures attended via interactive video conferencing versus in-person in preparing third-year internal medicine clerkship students for clinical practice examinations. Teach Learn Med 2007; 19(1):4-8. Yellowlees PM, Hogarth M, Hilty DM. The importance of distributed broadband networks to academic biomedical research and education programs. Acad Psychaitry 2006;30:451-455

scholarly journals Physical simulation of long distance and directional wireless channels

2008 ◽  
Author(s):  
Christopher Meagher ◽  
Randall Olsen ◽  
Christopher Cirullo ◽  
Christina de Jesus ◽  
Robert C. Ferro
Keyword(s):  
Wireless Channels ◽  
Physical Simulation ◽  
Long Distance

Design of Semi-Physical Simulation for Small Satellite by Virtual Display

2011 ◽  
Vol 130-134 ◽  
pp. 2684-2687 ◽  
Author(s):  
Kai Xu ◽  
Yan Lv ◽  
Guang Jin
Keyword(s):  
Control System ◽  
Real Time ◽  
Attitude Control ◽  
Physical Simulation ◽  
Simulation System ◽  
Space Environment ◽  
Small Satellite ◽  
Attitude Control System ◽  
Actual Environment ◽  
Virtual Display

Semi-physical simulation of attitude control system is the more synthetically test and verify for designing of small satellite control system. It is an important means of small satellite development. However, the results of current semi-physical simulation system have a lot of non-intuitive. Compare with the actual environment, the simulation environment still has striking disparity. So the shortcomings affect precision of simulation. Based on the virtual display technology, the group semi-physical simulation system has been constructed for attitude control of small satellite due to the combination with xPC real-time environment, the simulation computer, high-precision single-axis air-bearing turntable, reaction wheel, air thrust device, fiber gyroscopes, sensors synchronizer, power subsystem and wireless devices virtual display computer etc. Semi-physical simulation achieved the visual simulation in orbit and tracked new information of virtual environment of space into real-time simulation computer. Simulation results show that the simulation system for real-time attitude and orbit position of small satellite semi-physical simulation has an excellent display effect. At the same time, Real-time transfuse of orbit information provides a more accurate space environment simulation. The simulation system of small satellite attitude control to design and evaluate the more direct and convenient.

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