The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

Muscular hydrostats are organs composed entirely of packed arrays of incompressible
muscles and lacking any skeletal support. Found in both vertebrates and invertebrates, they …

Efficient formulations for the dynamics of continuum robots are necessary to enable accurate
modeling of the robot's shape during operation. Previous work in continuum robotics has …

In the previous decade, multiple useful approaches for kinematic models of continuum
manipulators were successfully developed. However, dynamic modeling approaches …

Variable length multisection continuum arms are a class of continuum robotic manipulators
that generate motion by structural mechanical deformation. Unlike most continuum robots …

Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific
interest to explore the potential of soft continuum robots for minimally invasive surgery …

Fast and exact motions of continuum robots are hardly seen so far. Partly this is caused by
physical constraints, eg small available actuation forces. Another reason is the dynamic …

To achieve their full potential, soft and compliant continuum robots must move faster and
more accurately than they can today. To facilitate this, accurate and computationally efficient …

This paper presents a novel modeling approach for the mechanics of multisegment, rod-
driven continuum robots. This modeling approach utilizes a high-fidelity lumped parameter …