4 accepted papers
Continuum robots are being increasingly used in minimally invasive surgery because of their high dexterity. Most studies have adopted the redundancy approach–increase the number of actuation Degrees of Freedom (DOFs)–to improve the performance of robots. However, a continuum robot with a large numbe
Traditional interaction perception of parallel robots relies on a six-dimensional force sensor for contact sensing at their distal end. However, the sensor body occupies the space of moving platform and also increases the load on the robot actuations. To enable both minimization and embodied intelli…
Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental t…
Cable-driven continuum manipulators have shown excellent benefits to work for endoluminal intervention. Demand of small diameter for confined anatomy limits the usage of multiple actuations, leading to limited DOFs and bending shapes. To address this problem, this letter proposes a multi-contact-aid