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--> [Submitted on 6 Aug 2026] Title:A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units View a PDF of the paper titled A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units, by Haonan Peng and 7 other authors View PDF HTML (experimental) Abstract:Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, learning-based force estimation from robot states suggests desirable accuracy without the necessity of extra sensors. However, challenges remain in obtaining representative training data in which the robot moves in the workspace under various external forces. In this work, a parallel motor-cable system is developed. With six motor-cable units installed around the robot workspace, cables with controllable tension connected to the robot end-effector can provide the desired external force without interfering with the movement of the surgical robot. The development of the system includes motor-unit hardware, control software, sensor drivers, simulations, and more. Preliminary experiments suggest an accuracy of force actuation with errors less than 1 N. Subjects: Robotics (cs.RO) Cite as: arXiv:2608.06488 [cs.RO] (or arXiv:2608.06488v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.06488 arXiv-issued DOI via DataCite (pending registration) Submission history From: Haonan Peng [view email] [v1] Thu, 6 Aug 2026 18:27:58 UTC (2,247 KB) Full-text links: Access Paper: View a PDF of the paper titled A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units, by Haonan Peng and 7 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)