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Design and kinematic modeling of constant curvature continuum robots: A review
Continuum robotics has rapidly become a rich and diverse area of research, with many
designs and applications demonstrated. Despite this diversity in form and purpose, there …
designs and applications demonstrated. Despite this diversity in form and purpose, there …
Recent developments in fibre optic shape sensing
This paper presents a comprehensive critical review of technologies used in the
development of fibre optic shape sensors (FOSSs). Their operation is based on multi …
development of fibre optic shape sensors (FOSSs). Their operation is based on multi …
Design and control of concentric-tube robots
A novel approach toward construction of robots is based on a concentric combination of
precurved elastic tubes. By rotation and extension of the tubes with respect to each other …
precurved elastic tubes. By rotation and extension of the tubes with respect to each other …
Frontiers of medical robotics: from concept to systems to clinical translation
Medical robotics is poised to transform all aspects of medicine—from surgical intervention to
targeted therapy, rehabilitation, and hospital automation. A key area is the development of …
targeted therapy, rehabilitation, and hospital automation. A key area is the development of …
Model-less feedback control of continuum manipulators in constrained environments
Continuum manipulators offer a means for robot manipulation in a constrained environment,
where the manipulator body can safely interact with, comply with, and navigate around …
where the manipulator body can safely interact with, comply with, and navigate around …
Neural network and jacobian method for solving the inverse statics of a cable-driven soft arm with nonconstant curvature
The solution of the inverse kinematics problem of soft manipulators is essential to generate
paths in the task space. The inverse kinematics problem of constant curvature or piecewise …
paths in the task space. The inverse kinematics problem of constant curvature or piecewise …
Mechanics of precurved-tube continuum robots
This paper presents a new class of thin, dexterous continuum robots, which we call active
cannulas due to their potential medical applications. An active cannula is composed of …
cannulas due to their potential medical applications. An active cannula is composed of …
Concentric tube robots for minimally invasive surgery: Current applications and future opportunities
Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …
and resulted in reduced surgical trauma and faster recovery. However, the confined …
Concentric tube robots: The state of the art and future directions
Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one
would be hard pressed to find a major medical robotics forum that does not include several …
would be hard pressed to find a major medical robotics forum that does not include several …
Model-less hybrid position/force control: a minimalist approach for continuum manipulators in unknown, constrained environments
Continuum manipulators are designed to operate in constrained environments that are often
unknown or unsensed, relying on body compliance to conform to obstacles. The interaction …
unknown or unsensed, relying on body compliance to conform to obstacles. The interaction …