3 accepted papers
Multi-backbone continuum robots demonstrated potentials for dexterous manipulation with proper payload capability in minimally invasive surgeries. Most prior works assume constant curvature shapes of the continuum segments in the modeling and control of the multi-backbone continuum robots. The actua
The use of continuum manipulators in surgical applications can be beneficial because of their inherent safety from their structural compliance. However, the tip pose (position and orientation) accuracy of a continuum manipulator can be low when an external load or disturbance is applied. Closed-loop
Continuum manipulators can accomplish various tasks in confined spaces, benefiting from their compliant structures and improved dexterity. Confined and unstructured spaces may require both enhanced stiffness of a continuum manipulator for precision and payload, as well as compliance for safe interac…