ArticleFrontiers in robotics and AI2020
How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance.
Article in Frontiers in robotics and AI, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 25 papers.
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Who cites it
25 citing papers in PubMed.
- Distal mechanisms in robotic surgical instruments: a structured review of surgical access, miniaturisation constraints and procedure-specific performance trade-offs.Journal of robotic surgery · 2026Review
- Soft Artificial Ciliary Brush with Integrated Haptic Feedback for Efficient Airway Mucus Cleaning.Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) · 2026Article
- A new hybrid optimization intelligence for cable-driven continuum robot motion: two-obstacle simulation and real-data assessment.Frontiers in robotics and AI · 2026Article
- On vibration suppression of a tendon-driven soft robotic neck for the social robot HARU.Frontiers in robotics and AI · 2025Article
- A hybrid tendon-driven continuum robot that avoids torsion under external load.Frontiers in robotics and AI · 2025Article
- Learning-based control for tendon-driven continuum robotic arms.Frontiers in robotics and AI · 2025Article
- Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications.Micromachines · 2024Review
- Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot.IEEE transactions on medical robotics and bionics · 2024Article
- Open continuum robotics-one actuation module to create them all.Frontiers in robotics and AI · 2024Article
- Separable Tendon-Driven Robotic Manipulator with a Long, Flexible, Passive Proximal Section.Journal of mechanisms and robotics · 2023Article
- A multifunctional soft robot for cardiac interventions.Science advances · 2023Article
- Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella.Biomimetics (Basel, Switzerland) · 2023Article
- Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening.Micromachines · 2023Article
- Continuum Robots: From Conventional to Customized Performance Indicators.Biomimetics (Basel, Switzerland) · 2023Article
- Modeling Tendon-actuated Concentric Tube Robots.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- End-Point Position Estimation of a Soft Continuum Manipulator Using Embedded Linear Magnetic Encoders.Sensors (Basel, Switzerland) · 2023Article
- Reduced order modeling and model order reduction for continuum manipulators: an overview.Frontiers in robotics and AI · 2023Review
- A review on self-healing featured soft robotics.Frontiers in robotics and AI · 2023Review
- Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2022Article
- Impact of Generic Tendon Routing on Tension Loss of Tendon-Driven Continuum Manipulators with Planar Deformation.IEEE robotics and automation letters · 2022Article
Corrections and comments
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.