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. Author manuscript; available in PMC: 2016 Oct 1.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2015 Oct 17;11(4):589–602. doi: 10.1007/s11548-015-1310-2

Fig. 8.

Fig. 8

Block diagram of extended FKM. The memory block M2 provides the information on bending angles at the previous time k–1. By comparing this information with the present bending angles at time time k in the block associated with Eq. (8), the extended FKM determines the appropriate direction of the the friction force, considering the tendon layout even when the robot has an antagonistic pair of tendons. The mapping can manage a hysteresis operation of the robot, i.e., the dependency of the bending angles toward the bending direction.