Continuum robots can traverse anatomical pathways to intervene in regions deep inside the
human body. They are able to steer along 3D curves in confined spaces and dexterously …

Existing static and kinematic models of concentric tube robots are based on the ordinary
differential equations of a static Cosserat rod. In this article, we provide the first dynamic …

Compliant mechanisms are widely used in the design of medical robotics and devices
because of their monolithic structure and high flexibility. Many compliant mechanisms derive …

Auxetic materials with a negative Poisson's ratio show a unique lateral expansion under
tension while their deformation under shear is similar to that of normal materials. Here, we …

Continuum robots have shown astounding abilities to assist surgeons reaching confined
spaces in the human body. Thus, accurate control of these manipulators, and particularly …

Medical concentric tubes have recently been designed using auxetic structures with
negative Poisson's ratios to reduce undesirable snap** instability and improve …

This article introduces the design and control of a tendon-driven continuum robot (CR)
segment with a modular structure consisting of a series of backbone discs connected in …

Flexible devices are slender objects that describe smooth three-dimensional curves and
undergo high strains. As they can be actuated, such systems are assimilated to the so-called …

Continuum robots are snake-like systems able to deliver optimal therapies to pathologies
deep inside the human cavity by following 3D complex paths. They show promise when …

Concentric tube robots are based on the deformation of elastic pre-curved tubes mounted in
a telescopic manner. Their kinematic model consists in a boundary value problem which …