Joseph Matheson
Papers
2
Total Citations
104
H-Index
2
About
Joseph Matheson is a leading researcher in the field of surgical and cable-driven robotics, with a primary focus on modeling the complex physical interactions that limit precision in these systems. His major contributions center on characterizing and mathematically modeling friction and hysteresis in cable-pulley networks—critical challenges for dexterous robotic tools. His most cited work, "Modeling Cable-Driven Robot With Hysteresis and Cable–Pulley Network Friction" (2020, 53 citations), introduces an independently developed hysteretic cable stretch model to capture nuanced material responses. Complementing this, his foundational experimental study, "Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system" (2015, 51 citations), provides essential friction data for platforms like the RAVEN II surgical robot. By bridging the gap between simple theoretical models and real-world physical behavior, Matheson’s work enables more accurate control algorithms, directly improving the safety and reliability of robot-assisted surgery. His research is instrumental for engineers developing next-generation, high-fidelity haptic and teleoperated systems.
Research Focus
Key Achievements
Top Papers
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