Tendon-driven Continuum Manipulator (TCM) is a kind of flexible manipulator with outstanding performance on dexterity, safety and intrinsic force sensing ability. These features make TCM prospective for the application in human contact scenarios such as Robot-assisted Minimally Invasive Surgery (RMIS). As an improvable point, this paper proposed a novel design of TCM with capability of one additional rotational DOF (twisting motion) compared with the previous design. Firstly, the basic composition and working principle of the proposed design are introduced. Then the corresponding inverse kinematic model as well as the verification experiment are introduced.
Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
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