Related papers: Tendon-Actuated Robots with a Tapered, Flexible Po…
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within…
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…