Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
An Ultrasound-based Localization Algorithm for Catheter Ablation Guidance in the Left Atrium
International Journal of Robotics Research
Design and control of concentric-tube robots
IEEE Transactions on Robotics
Equilibrium Conformations of Concentric-tube Continuum Robots
International Journal of Robotics Research
Ultrasound servoing of catheters for beating heart valve repair
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
A geometrically exact model for externally loaded concentric-tube continuum robots
IEEE Transactions on Robotics
Control system by observer for a hyper-redundant robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools
International Journal of Robotics Research
Dynamic modeling and control of an octopus inspired multiple continuum arm robot
Computers & Mathematics with Applications
Biologically inspired tree-climbing robot with continuum maneuvering mechanism
Journal of Field Robotics
International Journal of Robotics Research
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Continuum robotic manipulators articulate due to their inherent compliance. Tendon actuation leads to compression of the manipulator, extension of the actuators, and is limited by the practical constraint that tendons cannot support compression. In light of these observations, we present a new linear model for transforming desired beam configuration to tendon displacements and vice versa. We begin from first principles in solid mechanics by analyzing the effects of geometrically nonlinear tendon loads. These loads act both distally at the termination point and proximally along the conduit contact interface. The resulting model simplifies to a linear system including only the bending and axial modes of the manipulator as well as the actuator compliance. The model is then manipulated to form a concise mapping from beam configuration-space parameters to n redundant tendon displacements via the internal loads and strains experienced by the system. We demonstrate the utility of this model by implementing an optimal feasible controller. The controller regulates axial strain to a constant value while guaranteeing positive tendon forces and minimizing their magnitudes over a range of articulations. The mechanics-based model from this study provides insight as well as performance gains for this increasingly ubiquitous class of manipulators.