...Zhengfeng Bai; Yuxin Niu; Qingfeng Kong The flexible or continuum manipulators present excellent dexterity in confined space, which is beneficial to wide application prospects in many fields. In this paper, we establish the kinematic model and propose a trajectory planning algorithm for multi...

... continuum Te nsegrity manipulato R (DexTeR). DexTeR is a continuum manipulator that comprises of an assembly of “vertebra” modules fabricated using two curved links and 12 strings, and actuated using motor-tendon actuators. The fabrication methodology involves the construction of the equivalent graph...

... employing rigid robots, we proposed an in-situ explosive disposal method, which takes advantage of an extensible continuum manipulator to pass through obstacles and cut wires by end-effector. The spring-based continuum manipulator has six-degrees-of-freedom and is 400 mm in length but only 15 mm in diameter...

... imperceptible force information, thereby improving the safety and efficiency of microsurgery. In this study, we present an intraocular continuum manipulator with three degrees-of-freedom (DOF) force sensing capabilities. A contact-aided compliant mechanism based on cutting superelastic Nitinol tubes is used...