In this paper we present experimentally obtained cable-pulley Coulomb and viscous friction for cable-driven surgical robotic systems including the RAVEN II surgical robotic research platform. In the ...

For the cable-pulley system, we present an efficient model for the dynamics of the pay-out/reel-in process based on the framework of Kane's method. The local load of each cable segment between two ...

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“Toronto’s tower-in-the-park sites are one of the city’s greatest untapped housing resources,” says one prominent industry player.