A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
Continuum robots for medical applications: A survey,
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Reconfigurable TDCMs with active disk rotations use curvature-torsion projection to simplify shape matching through sequential proximal-to-distal adjustments.
A multi-dynamics model integrates electrical, winch, and continuum behaviors in tendon-driven robots to detect contacts and estimate object sizes from motor signals alone.
citing papers explorer
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Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
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Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator
Reconfigurable TDCMs with active disk rotations use curvature-torsion projection to simplify shape matching through sequential proximal-to-distal adjustments.
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A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
A multi-dynamics model integrates electrical, winch, and continuum behaviors in tendon-driven robots to detect contacts and estimate object sizes from motor signals alone.