Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures via
natural orifices and improve target lesion accessibility through curved paths.
However, CDCMs face limitations in workspace and control accuracy due to
non-linear cable effects causing hysteresis. This paper introduces an
extensible CDCM with a Semi-active Mechanism (SAM) to expand the workspace via
translational motion without additional mechanical elements or actuation. We
collect a hysteresis dataset using 8 fiducial markers and RGBD sensing. Based
on this dataset, we develop a real-time hysteresis compensation control
algorithm using the trained Temporal Convolutional Network (TCN) with a 1ms
time latency, effectively estimating the manipulator's hysteresis behavior.
Performance validation through random trajectory tracking tests and box
pointing tasks shows the proposed controller significantly reduces hysteresis
by up to 69.5% in joint space and approximately 26% in the box pointing task.

通过引入半主动机制在可拉曲控制的连续机械臂中扩展工作空间，利用实时的迟滞补偿控制算法来显著减少关节空间内的迟滞并在盒子指向任务中减少约 26% 的迟滞。