An analysis on two-joint tendon driven hybrid control systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages2
ISBN (Print)9784907764364
Publication statusPublished - 2010 Jan 1

Publication series

NameProceedings of the SICE Annual Conference


  • Hyblid control
  • Tendon
  • Wire driven

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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