@inproceedings{32ed88461de4441e895096637b672bd0,
title = "An analysis on two-joint tendon driven hybrid control systems",
abstract = "The aim of this research is to establish a basic control technique related to endoscopes for medical or general industrial uses. Shimada and Gotoh had presented the basic control technique for the system but the result was not sufficient because the motion of the system was not always smooth. For analize the cause, we utilize a passive two-joint mechanical system driven by wires as a prototype model because the problem should be simplified. Then the mathematical model, consdering the wire tensions precisely and the discretization at the angle limits of the joints, is re-derived and the corresponding hybrid controller is designed. Finally, simulation results are shown for the evaluation of validity of the analysis.",
keywords = "Hyblid control, Tendon, Wire driven",
author = "Akira Shimada and Atsushi Maruta and Yutaka Uchimura",
year = "2010",
month = jan,
day = "1",
language = "English",
isbn = "9784907764364",
series = "Proceedings of the SICE Annual Conference",
publisher = "Society of Instrument and Control Engineers (SICE)",
pages = "529--530",
booktitle = "Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers",
}