Derives a closed-form curve parametric kinematic model for a single-section inextensible continuum arm using a reduced-order mapping for rigid chain constraints and validates it numerically.
Continuum robots for medical applications: A survey
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Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm
Derives a closed-form curve parametric kinematic model for a single-section inextensible continuum arm using a reduced-order mapping for rigid chain constraints and validates it numerically.