Disturbance Observer-Based Robust Force Control for Tendon-Sheath Mechanisms
This paper proposes a disturbance observer (DOB)-based robust force control framework for tendon-sheath mechanisms (TSMs) that transmit tension forces from the proximal to the distal end. A detailed physical model of the TSM system, where a motor actuates the tendon and the output corresponds to the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/7/320 |
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