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Mechanics-based formulations of concentric tube robots incorporate tube bending and twisting, but do not include other phenomena that could model observed hysteretic behavior in which tube configurations reached by rotating tubes in different directions achieve different tip positions. As a step toward incorporating hysteretic tube-on-tube friction, this paper derives a model that enables computation...
This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability...
Concentric tube robots are a novel class of continuum robots that are constructed by combining precurved elastic tubes such that the overall shape of the robot is a function of the relative rotations and translations of the constituent tubes. Frictionless kinematic and quasistatic force models for this class of robots have been developed that incorporate bending and twisting of the tubes. Experimental...
It has been known for many years that stick-slip can often be eliminated from a system by stiffening it. More recently, it has been shown that for a negatively-sloped friction-velocity curve, a frictional lag must be present for machine stiffness to produce this stabilizing effect [2,10]. In this paper, experiments involving dry and lubricated line contacts of hardened tool steel are described and...
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