2023
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
IROS 2023poster
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 approach a point in its workspace from one or at most severa…