{"id":"https://openalex.org/W1954242082","doi":"https://doi.org/10.5220/0004409800050010","title":"Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems","display_name":"Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W1954242082","doi":"https://doi.org/10.5220/0004409800050010","mag":"1954242082"},"language":"en","primary_location":{"id":"doi:10.5220/0004409800050010","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0004409800050010","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5220/0004409800050010","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016623093","display_name":"Thanh Nho","orcid":"https://orcid.org/0000-0002-4980-5251"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"T. N. Do","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023246724","display_name":"Tegoeh Tjahjowidodo","orcid":"https://orcid.org/0000-0003-0074-5101"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"T. Tjahjowidodo","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097086536","display_name":"M. W. S. Lau","orcid":null},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M. W. S. Lau","raw_affiliation_strings":["Newcastle University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026351618","display_name":"Soo Jay Phee","orcid":"https://orcid.org/0000-0002-9709-5848"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S. J. Phee","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9721999764442444,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9610999822616577,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7114471197128296},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6118737459182739},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5433701872825623},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47630560398101807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4612047076225281},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.45390191674232483},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.43426424264907837},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38814207911491394},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.35066694021224976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3234803080558777},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2261938452720642},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.20935487747192383},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17955973744392395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14767348766326904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13903909921646118}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7114471197128296},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6118737459182739},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5433701872825623},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47630560398101807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4612047076225281},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.45390191674232483},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.43426424264907837},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38814207911491394},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.35066694021224976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3234803080558777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2261938452720642},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.20935487747192383},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17955973744392395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14767348766326904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13903909921646118},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5220/0004409800050010","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0004409800050010","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/105802","is_oa":false,"landing_page_url":"https://hdl.handle.net/10220/20900","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"doi:10.5220/0004409800050010","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0004409800050010","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1602498161","https://openalex.org/W1988273910","https://openalex.org/W2080294850","https://openalex.org/W2082012063","https://openalex.org/W2085029715","https://openalex.org/W2091881639","https://openalex.org/W2097571405","https://openalex.org/W2098085850","https://openalex.org/W2115055600","https://openalex.org/W2130735781","https://openalex.org/W2133076227","https://openalex.org/W2134162555","https://openalex.org/W2151420688","https://openalex.org/W2151640591","https://openalex.org/W2154578892","https://openalex.org/W2162394694","https://openalex.org/W2166271005","https://openalex.org/W4210424113"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2390968135","https://openalex.org/W2565094479","https://openalex.org/W2390829436","https://openalex.org/W1989791859","https://openalex.org/W2382213751","https://openalex.org/W2351750670","https://openalex.org/W1597848696","https://openalex.org/W602859758","https://openalex.org/W2354715126"],"abstract_inverted_index":{"Minimally":[0],"Invasive":[1],"Surgery":[2],"(MIS)":[3],"has":[4,158],"established":[5],"a":[6,30,58,95,184],"revolution":[7],"in":[8,34,62,134,161],"surgical":[9],"communities,":[10],"with":[11,119],"its":[12,188],"many":[13],"advantages":[14],"over":[15],"open":[16],"surgery.":[17],"The":[18,113,132],"need":[19],"of":[20,57,65,123,129,177,187],"more":[21],"simplicity":[22],"and":[23,45,68,73,85,126,137,149,153,171,190],"high":[24],"maneuverability":[25],"makes":[26],"the":[27,40,54,63,71,74,82,87,90,102,105,109,124,130,165,169,172,175,178],"tendon":[28,72,110,125,170],"sheath":[29,111],"very":[31],"suitable":[32],"mechanism":[33],"flexible":[35],"endoscopic":[36],"systems.":[37],"Due":[38],"to":[39,80,100,163],"restriction":[41],"on":[42,53],"size":[43],"constraints":[44],"sterilization":[46],"problems,":[47],"traditional":[48],"sensors":[49],"cannot":[50],"be":[51,141],"mounted":[52],"tool":[55],"tips":[56],"slave":[59],"manipulator.":[60],"Moreover,":[61],"presence":[64],"nonlinear":[66],"friction":[67,98,115,166],"hysteresis":[69],"between":[70,168],"sheath,":[75],"it":[76],"is":[77,181],"extremely":[78],"difficult":[79],"control":[81],"precise":[83],"motion":[84],"sense":[86],"force":[88,103,167],"during":[89],"operation.":[91],"This":[92],"paper":[93],"proposes":[94],"new":[96],"dynamic":[97],"model":[99,116,180],"estimate":[101],"at":[104],"end":[106],"effector":[107],"for":[108],"mechanism.":[112],"proposed":[114],"can":[117,140],"adapt":[118],"any":[120,127],"initial":[121],"pretension":[122],"configuration":[128],"sheath.":[131,173],"nonlinearities":[133],"both":[135],"sliding":[136],"presliding":[138],"regimes":[139],"captured":[142],"by":[143,183],"using":[144],"an":[145],"internal":[146],"state":[147],"variable":[148],"functions":[150],"dependent":[151],"velocity":[152],"acceleration.":[154],"A":[155],"specific":[156],"setup":[157],"been":[159],"designed":[160],"order":[162],"measure":[164],"Finally,":[174],"validity":[176],"identified":[179],"confirmed":[182],"good":[185],"agreement":[186],"prediction":[189],"experimental":[191],"data.":[192]},"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}