ArticleFrontiers in robotics and AI2021
Leveraging Geometry to Enable High-Strength Continuum Robots.
Article in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Continuum Robot Segments with High Output Stiffness via Diagonal Backbones.IEEE robotics and automation letters · 2026Article
- Article
- A hybrid tendon-driven continuum robot that avoids torsion under external load.Frontiers in robotics and AI · 2025Article
- A Kinetostatic Model for Concentric Push-Pull Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery.Micromachines · 2023Article
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Authors and funding
2 authors.
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Abstract
Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices.
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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.