Abstract
Tendon-driven Continuum Manipulator (TCM) is a kind of flexible manipulator with outstanding performance on dexterity, safety and intrinsic force sensing ability. These features make TCM prospective for the application in human contact scenarios such as Robot-assisted Minimally Invasive Surgery (RMIS). As an improvable point, this paper proposed a novel design of TCM with capability of one additional rotational DOF (twisting motion) compared with the previous design. Firstly, the basic composition and working principle of the proposed design are introduced. Then the corresponding inverse kinematic model as well as the verification experiment are introduced.
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Lei, Y., Sugahara, Y., Takeda, Y. (2022). Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_25
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DOI: https://doi.org/10.1007/978-3-031-08140-8_25
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