ArticleCyborg and bionic systems (Washington, D.C.)2023
A Versatile Continuum Gripping Robot with a Concealable Gripper.
Article in Cyborg and bionic systems (Washington, D.C.), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- Implementing ensemble of deep learning model with optimization techniques for human activity recognition to assist individuals with disabilities.Scientific reports · 2025Article
- Optimizing dance motion reconstruction using a two-dimensional matrix approach with hybrid genetic and fuzzy logic differential evolution.Scientific reports · 2025Article
- Advanced bioactuator selection for efficient human motion simulation in biohybrid robots using CSF dynamic knowledge.Scientific reports · 2025Article
- Method for reconstructing safety and arming motion process by integrating Kalman filter and KCF.Scientific reports · 2025Article
- Leveraging Machine Learning for Optimized Mechanical Properties and 3D Printing of PLA/cHAP for Bone Implant.Biomimetics (Basel, Switzerland) · 2024Article
- An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots.Sensors (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
8 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot's scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as "multi-node synergy method" for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures.
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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.