ArticleIEEE robotics and automation letters2022
Impact of Generic Tendon Routing on Tension Loss of Tendon-Driven Continuum Manipulators with Planar Deformation.
Article in IEEE robotics and automation letters, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
5 citing papers in PubMed.
- Modeling and compensation control of a single tendon-sheath actuated system with time-varying parameters.Scientific reports · 2025Article
- 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
- Multiphysical Analytical Modeling and Design of A Magnetically Steerable Robotic Catheter for Treatment of Peripheral Artery Disease.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2022Article
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 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
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
2 authors.
Funding
Abstract
We present a novel physically-intuitive mathematical formulation to investigate the effects of a fully-constrained generic tendon routing (GTR) on the correlation between tension loss and deformation behavior of a variable-curvature tendon-driven continuum manipulator (TD-CM). The proposed model can account for distributed friction forces/moments along a GTR path that have been typically ignored in the previous approaches (e.g., the well-known frictionless Cosserat rod model). For the first time, the internal distributed forces on a GTR are expressed using three physically-intuitive generic functions. Solely relying on the known actuation input(s), the proposed mathematical formulation can also solve the entangled and unknown correlation between GTR, internal distributed forces, tension loss and deformation behavior of TD-CMs. To evaluate the performance of the proposed approach, we performed various simulation studies using eight different GTR paths. Additionally, we fabricated two different types of TD-CMs with different GTRs to experimentally evaluate the efficacy and performance of the proposed mathematical framework. The results demonstrate the proposed model can successfully and accurately (i.e., about <10% error) capture the trends of substantial tension loss (e.g., about <50%) on fully constrained GTRs, which reveals the importance of considering tension loss in modeling these TD-CMs.
Indexed as
Identifiers
What OpenQuestion holds
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.