Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator

arXiv:2603.12099 · cs.RO · Submitted 2026-03-12 · Read on arXiv

cs.RO

Submitted: 2026-03-12

Updated: 2026-09-25

Comments: Accepted by IEEE Transactions on Medical Robotics and Bionics (T-MRB). Open-source GitHub Repo: https://github.com/jhu-dvrk/dvrk_psm_dynamics_identification

Journal ref: H. Zhou et al., "Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator," in IEEE Transactions on Medical Robotics and Bionics (2026)

DOI: 10.1109/TMRB.2026.3736266

Code: https://github.com/cvxgrp/scs

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Accuracy — 15× in this paper · explained in 1 episode
Patient Side Manipulator — 7× in this paper
Dynamic Modeling — 6× in this paper · explained in 3 episodes
PID Controller — 6× in this paper · explained in 2 episodes
Consistency — 4× in this paper · explained in 3 episodes
Fidelity — 3× in this paper · explained in 2 episodes
Robustness — 3× in this paper · explained in 5 episodes
Root Mean Square — 3× in this paper
System Identification — 3× in this paper · explained in 3 episodes
Calibration — 2× in this paper · explained in 7 episodes
Generalization — 2× in this paper · explained in 13 episodes
Hysteresis — 2× in this paper · explained in 3 episodes
International Symposium on Medical Robotics — 2× in this paper
Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
Hierarchical Framework — 1× in this paper · explained in 2 episodes
IEEE International Conference on Robotics and Automation — 1× in this paper
Master Tool Manipulator — 1× in this paper
Transfer Learning — 1× in this paper · explained in 10 episodes
Transferability — 1× in this paper · explained in 4 episodes
Transformer — 1× in this paper · explained in 2 episodes
Verification — 1× in this paper · explained in 2 episodes

Terminology

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