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 …

From a functional standpoint, classic robots are not at all similar to biological systems. If
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …

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 …

Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS),
but many interdisciplinary challenges remain unsolved. To understand current technologies …

Soft slender structures are ubiquitous in natural and artificial systems, in active and passive
settings and across scales, from polymers and flagella, to snakes and space tethers. In this …

Since the emergence of soft robotics around two decades ago, research interest in the field
has escalated at a pace. It is fuelled by the industry's appreciation of the wide range of soft …

To address the challenges with real-time accurate modeling of multisegment continuum
manipulators in the presence of significant external and body loads, we introduce a novel …

Robotic structures based on variable stiffness enable high-performance and flexible motion
systems that are inherently safe and thus allow safe Human-Robot Collaboration. This letter …

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 …

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 …