ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2026
On Integrating Friction Dynamics Into Cosserat Models for Tendon-Driven Continuum Manipulators.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
This article presents a dynamic modeling framework for tendon-driven continuum manipulators, with a focus on cardiac catheters. Tendon compliance and tendon-sheath friction produce nonuniform tensions and motion-history-dependent dynamics (hysteresis), which, if neglected, degrade model fidelity and control. We develop a Cosserat-based formulation that integrates tendon compliance and a dynamic LuGre friction law into the governing nonlinear PDEs. This allows geometrically exact spatiotemporal computation of tendon-tension transmission without assuming initial friction states. Experiments on two clinical catheters demonstrate that incorporating friction dynamics reduces distal-tip error from 1.62±1.01 mm (frictionless) to 0.99±0.65 mm (≈39% improvement), and achieves 2.31±0.91 mm mean absolute error for out-of-plane spatial actuation of a four-tendon ICE catheter. Comparative analysis against a Coulomb-based capstan model highlights the significance of dynamic friction, which produces rate-dependent tension transmission and more accurate modeling of hysteresis effects.
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