The 20th century's robotic systems have been made from stiff materials, and much of the
developments have pursued ever more accurate and dynamic robots, which thrive in …

This paper presents the concept design of a modular soft manipulator for minimally invasive
surgery. Unlike traditional surgical manipulators based on metallic steerable needles …

There is an emerging trend toward soft robotics due to its extended manipulation capabilities
compared to traditionally rigid robot links, showing promise for an extended applicability to …

Parallel robots with rigid transmission mechanisms have been widely developed to improve
the speed, precision, and load capability. However, it is still challenging in promoting soft …

To address the challenges with real-time accurate modeling of multisegment continuum
manipulators in the presence of significant external and body loads, we introduce a novel …

MRI compatibility, which often is a requirement for the new medical soft robot projects,
greatly reduces available actuation methods and sensors. An example of such project is …

The recent surge of interest in soft robotics has prompted many interesting soft robotic
manipulator designs to be proposed. However, current soft robotic manipulators mainly …

Investigations on control and optimization of continuum manipulators have resulted in a
number of kinematic and dynamic modeling approaches each having their own advantages …

Soft robots have morphological characteristics that make them preferred candidates, over
their traditionally rigid counterparts, for executing physical interaction tasks with the …

Various methods based on hyperelastic assumptions have been developed to address the
mathematical complexities of modeling motion and deformation of continuum manipulators …