ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2024
A Kinetostatic Model for Concentric Push-Pull Robots.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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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
6 citing papers in PubMed, 16 citations in OpenAlex.
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots.IEEE transactions on medical robotics and bionics · 2025Article
- A System for Endoscopic Submucosal Dissection Featuring Concentric Push-Pull Manipulators.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2025Article
- Design of Transmission Tubes for Surgical Concentric Push-Pull Robots.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications.Micromachines · 2024Review
- Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes.Journal of medical robotics researchArticle
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 at 1 institution in 1 country.
Funding
Abstract
Concentric push-pull robots (CPPR) operate through the mechanical interactions of concentrically nested, laser-cut tubes with offset stiffness centers. The distal tips of the tubes are attached to each other, and relative displacement of the tube bases generates bending in the CPPR. Previous CPPR kinematic models assumed two tubes, planar shapes, no torsion, and no external loads. In this paper, we develop a new, more general CPPR model accounting for any number of tubes, describing their variable-curvature 3D shape when actuated, including the effects of torsion and external loads. To accomplish this, we employ a modified Kirchhoff rod model for each tube (with offset stiffness center) and embed the constraints of concentricity. We use an energy method to determine robot shape as a function of actuation and external loading. We experimentally validate this kinetostatic model on prototype CPPRs with two tubes and three tubes and non-constant laser-cut patterns that create variable curvature and stiffness. Experimental results agree with the model, paving the way for use of this model in design optimization, planning, and control of CPPRs.
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.