Mechanics Modeling of Tendon-Driven Continuum Manipulators

By David B. Camarillo, C. Milne, Christopher R. Carlson, M. Zinn, J. Salisbury. IEEE Transactions on robotics, 2008

641 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/448e431722e0825ee9e97adc7abd6b91a71f5db5

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In Biomedical Engineering

In Control and Systems Engineering

In Mechanical Engineering

Citations in the corpus

Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, positive): “For example, in [80], a mechanics-based model for transforming between beam configuration and tendon displacements is formulated.”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “…cable extension resulting from loading, which requires examination of the statics of the continuum robot and the resulting forces applied to its cables to properly regulate cable tension, avoid cable slack, and address both under-and over-actuation in these systems (Camarillo et al. 2008, 2009a).”
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments (2014, background): “Tendon tensions can be related to tendon displacements by a linear function [13], therefore we define a diagonal stiffness matrix K ∈ Rn×n , such that”
Three-Dimensional Dynamics for Cable-Driven Soft Manipulator (2017, methodology): “Their model was embedded in a tendon position controller for experimental validation [12].”
Continuum Robots for Medical Applications: A Survey (2015, background): “…actuation that are currently being developed for continuum robots in surgical applications include tendon/cable driven mechanisms [42], [47], [48], [74]–[76] and multibackbone structures [54], [55], [77]–[80], which use the coordinated translation of the cables or secondary backbones at…”
Dynamic Model of a Multibending Soft Robot Arm Driven by Cables (2014, background): “Among them, the most significant achievements for this study are reported in [7] and [9], where an exhaustive analysis of tendon actuation is given and the control system is shown, for a cable-driven continuum manipulator.”
Soft Manipulators and Grippers: A Review (2016, background): “Cables can transfer a force from a distant actuator over the manipulator limbs, which enable the moment of inertia to be kept low (Camarillo et al., 2008).”
Design and Control of Concentric-Tube Robots (2010, neutral): “Steering is achieved by the use of one or more wires attached to the distal end of the elongate member disposed along the catheter’s length [4].”
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots (2010, background): “modeled both the bending and compression of a constant-curvature continuum robot [11].”
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading (2011, background): “Example elastic structures include a flexible tube with tendons in the walls [11] and an elastic rod with disks affixed along its length (e.”