Herein, recent advances, current limitations, and open challenges in the design, modeling,
and control of continuum robots are discussed. Thanks to their lean bodies, these robots …

The dynamic equations of many continuum and soft robot designs can be succinctly
formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod …

Abstract Purpose of Review This review provides an overview of the state of the art in
bioinspired soft robotics by examining advancements in actuation, functionality, modeling …

Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of
continuum robots with the precision and strength of rigid-link parallel robots. In this paper …

In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …

This article explores the relationship between optimal control and Cosserat beam theory
from the perspective of solving the forward and inverse dynamics (and statics as a subcase) …

Tendon-driven parallel continuum robots (PCR) consist of multiple individual continuous
kinematic chains, that are actuated in bending utilizing tendons routed along their …

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and
controlling hybrid rigid–continuum robots. Such models should be fast, as simple as …

Continuum manipulators, inspired by nature, have drawn significant interest within the
robotics community. They can facilitate motion within complex environments where …

The Fin-Ray principle, inspired by the physiology of fish rays, represents the foundation of a
large number of robotic devices. However, despite their popularity, there is not any ad-hoc …