Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification

Video of Enabled Gravity Compensation of dVRK-Si PSM

Full video: https://youtube.com/shorts/A6KnUYs4UwY?feature=share

Video of free falling of dVRK-Si PSM

Full video: https://youtube.com/shorts/yivF33PRSzw?feature=share

Citation

@misc{zhou2025gravity,
      title={Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification}, 
      author={Haoying Zhou, Haoo Yang, Anton Deguet, Loris Fichera, Jie Ying Wu, and Peter Kazanzides},
      year={2025},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      eprint={arXiv:2501.19058}
}

This paper has been accepted by The Hamlyn Symposium on Medical Robotics 2025 and selected for oral presentation.

Source Code will be available soon