4 accepted papers
Inspired by biological tentacles, soft continuum robots exhibit the potential for navigating through narrow spaces and operating in complex environments, offering extensive application possibilities. However, owing to their inherent compliance, soft continuum robots may undergo unpredictable deforma
Nowadays, laparoscopic surgery procedures face a trade-off between expensive, complex robotic systems and manual instruments with limited functionality. Fully robotic solutions offer precision but lack portability and intuitive control, while manual tools rely solely on the surgeon’s dexterity, limi
Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent ma
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution s…