Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Computer Assisted Radiology and Surgery"
DOI: 10.1007/s11548-019-01972-8
Abstract: PurposeA laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty… read more here.
Keywords: robot; continuum robot; nonconstant curvature; curvature ... See more keywords
Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines
Sign Up to like & getrecommendations! Published in 2017 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2016.09.004
Abstract: The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry… read more here.
Keywords: end; continuum robot; end effector; gas turbine ... See more keywords
Development and Stability Analysis of an Imitation Learning-Based Pose Planning Approach for Multi-Section Continuum Robot
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2997636
Abstract: Recently, continuum flexible robots have been designed for the use in diverse applications; including the exploration of confined static and dynamic environments. One of the challenging tasks for those robots is planning optimal trajectories due… read more here.
Keywords: approach; continuum robot; robot; section continuum ... See more keywords
Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3162835
Abstract: Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for… read more here.
Keywords: large shape; shape deformations; unit; continuum robot ... See more keywords
Kinestatic Modeling of a Spatial Screw-Driven Continuum Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143896
Abstract: Continuum robots offer many advantages for use in miniature diagnostic and interventional surgical devices. However, the creation of snake-like devices with extremely high slenderness ratios, those with great length and small diameter, remains challenging from… read more here.
Keywords: continuum; kinestatic modeling; screw driven; continuum robot ... See more keywords
Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3166547
Abstract: Cable-driven continuum robots exhibit accessing and manipulation capabilities in constrained and cluttered environments that are unachievable for traditional robots composing of discrete links and joints. However, the existing continuum robots structured by non-scalable backbones are… read more here.
Keywords: driven continuum; motion; design; continuum robot ... See more keywords
Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3171917
Abstract: Continuum robots driven by rods have a wide range of applications, such as detection and maintenance tasks in unstructured environments. However, their inherent nature of flexibility also limits their function. Thus, variable stiffness mechanisms for… read more here.
Keywords: variable stiffness; stiffness; continuum robot; winding styled ... See more keywords
Imitation-Based Motion Planning and Control of a Multi-Section Continuum Robot Interacting With the Environment
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3239306
Abstract: Recently, flexible robots are growing in importance owing to their merits over rigid robots in maneuverability and safety, which equips them to work in unstructured environments, such as occur in medical applications. However, motion planning… read more here.
Keywords: section; control; motion; continuum robot ... See more keywords
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3267006
Abstract: Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal… read more here.
Keywords: toward continuum; tentacles lung; robot tentacles; continuum robot ... See more keywords
Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons
Sign Up to like & getrecommendations! Published in 2017 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2016.2636199
Abstract: Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads… read more here.
Keywords: muscle based; pneumatic muscle; continuum; robot ... See more keywords
A hybrid continuum robot based on pneumatic muscles with embedded elastic rods
Sign Up to like & getrecommendations! Published in 2019 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406218822013
Abstract: Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a… read more here.
Keywords: continuum; robot; continuum robot; pneumatic muscles ... See more keywords