An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots

By Kai Xu, Nabil Simaan. IEEE Transactions on robotics, 2008

383 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Mechanical Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/96717d189d786af155d3e2c6d56933d1125675b6

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In Biomedical Engineering

In Mechanical Engineering

In Ocean Engineering

Citations in the corpus

Continuum Robots for Medical Applications: A Survey (2015, methodology): “For multibackbone robots, energy-based analysis (using the principle of virtual work) under a constant-curvature framework has led to intrinsic wrench sensing capabilities [99], [116].”
Soft robot perception using embedded soft sensors and recurrent neural networks (2019, background): “This type of force sensing that uses configuration-level information without force sensors located proximal to the end effector is commonly referred to as “intrinsic force sensing” (38).”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “One common style of continuum robot construction (see, e.g., Chen et al. (2004), Jones and Walker (2006b), Ohno and Hirose (2001), and Bailly and Amirat (2005), and Xu and Simaan (2008), among others) is composed of actuators which bend continuously, such as flexible rods or pneumatic tubes.”
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat (2009, methodology): “This approximation was validated by Xu and Simaan (2008).”
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots (2010, background): “Intrinsic-force sensing is desirable for thin continuum medical robots where inclusion of a force sensor could significantly affect device function [8].”
Design and Control of Concentric-Tube Robots (2010, background): “For example, in [2], the control elements are tubes that act as secondary backbones and enable shape control through push–pull actuation.”