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 …

Continuum robots provide inherent structural compliance with high dexterity to access the
surgical target sites along tortuous anatomical paths under constrained environments and …

Continuum robots are not constructed with discrete joints but, instead, change shape and
position their tip by flexing along their entire length. Their narrow curvilinear shape makes …

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 …

Methods and systems are described for controlling move ment of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

Mathematical modeling of soft robots is complicated by the description of the continuously
deformable three-dimensional shape that they assume when subjected to external loads. In …

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to
their intrinsic compliance. However, this compliance may lead to challenges in modeling as …

Tendons are a widely used actuation strategy for continuum robots that enable forces and
moments to be transmitted along the robot from base-mounted actuators. Most prior robots …

The maintenance works (eg inspection, repair) of aero-engines while still attached on the
airframes requires a desirable approach since this can significantly shorten both the time …

We present a new variable curvature continuum kinematics for multisection continuum
robots with arbitrarily shaped backbone curves assembled from sections with three degrees …