Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading

By D. C. Rucker, Robert J. Webster III. IEEE Transactions on robotics, 2011

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Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, methodology): “Leveraging these frameworks, the statics and dynamics of tendon actuated continuum and soft robots are derived and experimentally validated in [21], [22] and [23] respectively.”
Dynamic Model of a Multibending Soft Robot Arm Driven by Cables (2014, background): “The state of the art on Cosserat geometrically exact models for soft robot arms has been limited so far to static analysis [17], [19], [22], [23] or to the theoretical presentation of dynamic cases, without performing simulations or experimental comparisons [16], [18], [20] and without considering e”
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments (2014, methodology): “Rucker et al. used an extended Kalman ﬁlter approach for estimating contact forces based on manipulator deﬂection and a statics model [20], and obtained a model for the robot Jacobian by combining their mechanics model with a differential model for predicting contact loading [36].”
Continuum Robots for Medical Applications: A Survey (2015, background): “Bottom right: Cosserat rod theory involves equilibrium relationships relating internal and external forces and moments along the length of a rod or robot (figure adapted from [98]).”