Login Register Cart 0
Generic placeholder image

Recent Patents on Engineering

Editor-in-Chief

ISSN (Print): 1872-2121
ISSN (Online): 2212-4047

Back
Journal Home About Journal Editorial Board Journal Insight Current Issue Volumes/Issues
Subscribe
Review Article

A Review on Wire-Driven Flexible Robot Manipulators

Author(s): Dedong Tang*, Chao Cheng, Limei Xiao, Chunyang Tang, Xin Lv and Gang Wang

Volume 17, Issue 3, 2023

Published on: 19 August, 2022

Article ID: e230622206344 Pages: 21

DOI: 10.2174/1872212117666220623140652

Price: $65

Abstract

Background: At present, with the rapid development of technology in medical treatment and rescue, how to reduce the operational complexity caused by limited space has become one of the hot topics. For example, in search and rescue, it is difficult for people to enter these high-risk areas due to various restricted geographic environments. During some medical treatment processes, minimally invasive surgery is difficult to operate on because of its small incision. In order to solve these problems, a kind of Wire-Driven Flexible Robot Manipulator (WDFRM) has been developed. The WDFRMs have better flexibility and greater degrees of freedom (DOF) than the traditional rigid manipulators and play an important role in these extreme operation fields.

Objective: The paper aims to report the latest progress in the studies of the WDFRMs, and provides a reference for readers in this field.

Methods: By summarizing various productions and patents related to the WDFRMs, the structural characteristics, differentiations, and applications of the WDFRMs are proposed.

Results: Different types of WDFRMs are compared, analyzed, and classified according to their structural characteristics and supporting mode. The technical problems of the WDFRMs are pointed out, and the future development direction of this research field is predicted.

Conclusion: According to their structural characteristics, the research shows that WDFRMs can be divided into Wire-Driven Serpentine Flexible Robot Manipulators (WDSFRMs) and Wire-Driven Continuum Flexible Robot Manipulators (WDCFRMs). WDFRMs will have more applications in medical treatment, rescue, and military affairs. The structure, stiffness, and accuracy of the WDFRMs still need to be improved continuously.

Keywords: Continuum manipulator, flexible robot manipulator, medical treatment, rescue, serpentine manipulator, wire-driven.

Graphical Abstract

[1]
M. Li, R.J. Kang, S. Geng, and E. Guglielmino, "Design and control of a tendon-driven continuum robot", Trans. Inst. Meas. Contr., vol. 40, no. 11, pp. 3263-3272, 2018.
[http://dx.doi.org/10.1177/0142331216685607]
[2]
G.H. Gao, and H. Ren, "A variable-length bending fully flexible robotic arm structure", C.N.106002988, 2019.
[3]
L.H. Yang, and Z.S. Yang, "A flexible charging robot based on wire drive", C.N.106737628, 2017.
[4]
H.G. Liu, and S.B. Yang, "A wire-driven continuum robot", C.N.108393876, 2020.
[5]
M. Feng, and R. Sha, "A flexible robot for minimally invasive laparoscopic surgery", C.N.110464466, 2020.
[6]
W. Mcmahan, V. Chitrakaran, and M. Csencsits, Field trials and testing of the OctArm continuum manipulator. Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, 2006, pp. 2336-2341.
[http://dx.doi.org/10.1109/ROBOT.2006.1642051]
[7]
R.J. Webster III, and B.A. Jones, "Design and kinematic modeling of constant curvature continuum robots: A review", Int. J. Robot. Res., vol. 29, no. 13, pp. 1661-1683, 2010.
[http://dx.doi.org/10.1177/0278364910368147]
[8]
S.Y. Hu, and G.Y. Zhang, "An end-effector robot arm for minimally invasive surgery robot", C.N.113069211, 2003.
[9]
L.H. Yang, and Z.S. Yang, "A wire-driven continuum flexible robot", C.N.111168657, 2022.
[10]
W.F. Xu, and T.L. Liu, "A wire-driven flexible manipulator by double-DOF linkage", C.N.108237551, 2021.
[11]
J.F. Hu, "A wire-driven flexible robot", C.N.108818511, 2018.
[12]
H.M. Le, T.N. Do, and S.J. Phee, "A survey on actuators-driven surgical robots", Sens. Actuators A Phys., vol. 247, pp. 323-354, 2016.
[http://dx.doi.org/10.1016/j.sna.2016.06.010]
[13]
C. Li, and C.D. Rahn, "Design of continuous backbone, wire-driven robots", J. Mech. Des., vol. 124, no. 2, pp. 265-271, 2002.
[http://dx.doi.org/10.1115/1.1447546]
[14]
S. Nabil, and H. Russell, "Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body", U.S.8365633, 2002.
[15]
S. Nabil, and X.U. Kai, "Systems devices, and methods for providing insertable robotic sensory and manipulation platforms for single port surgery", U.S.20140350337, 2016.
[16]
Z. Jiang, Y. Luo, and J. Yan, New cable-driven continuum robot with only one actuator. IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2017, p. 693-698.
[17]
S.Y. Zuo, and Z.Y. Ping, "Flexible continuum robot based on contact-assisted structure", C.N.111761609, 2015.
[18]
Z. Qiang, and G. Fang, Design and analysis of a new cable-driven hyper redundant manipulator. 2010 International Conference on Intelligent Computation Technology and Automation, Changsha, China, 2010, pp. 1111-1114.
[http://dx.doi.org/10.1109/ICICTA.2010.743]
[19]
R. Buckingham, and A. Graham, "Nuclear snake-arm robots", Ind. Rob., vol. 39, no. 1, pp. 6-11, 2012.
[http://dx.doi.org/10.1108/01439911211192448]
[20]
J.M. Liao, and Y.M. Shang, "A patent analysis of a snake-shaped robot", Technol. Innov. Appl., vol. 14, pp. 8-10, 2018.
[21]
S. Kim, W. Xu, and X. Gu, Preliminary design and study of a bio-inspired wire-driven serpentine robotic manipulator with direct drive capability. 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China, 2016, pp. 1409-1413.
[http://dx.doi.org/10.1109/ICInfA.2016.7832040]
[22]
O.M. Omisore, S. Han, J. Xiong, H. Li, Z. Li, and L. Wang, "A review on flexible robotic systems for minimally invasive surgery", IEEE Trans. Syst. Man Cybern. Syst., vol. 52, no. 1, pp. 631-644, •••.
[http://dx.doi.org/10.1109/TSMC.2020.3026174]
[23]
Z.J. Du, and W. Dong, "Flexible manipulator for single-hole minimally invasive laparotomy", C.N.102697564, 2011.
[24]
Z. Su, S.B. Zhang, and X.C. Li, "A review of the research and development of snake robots", Zhongguo Jixie Gongcheng, vol. 26, pp. 414-425, 2015.
[25]
X.L. Hou, and L.F. Xiong, "A flexible robotic arm with gastrointestinal endoscopy", C.N.207693676, 2009.
[26]
Y. Toshihiro, and H. Mitsuaki, "Manipulator", U.S.20180079089, 2007.
[27]
H.Y. Hu, T.F. Wang, and L.N. Sun, "Kinematic analysis and simulation of a wire-driven continuous robot", Jixie Gongcheng Xuebao, vol. 46, no. 19, pp. 1-8, 2010.
[http://dx.doi.org/10.3901/JME.2010.19.001]
[28]
A. Yeshmukhametov, K. Koganezawa, and Y. Yamamoto, Design and kinematics of cable-driven continuum robot arm with universal joint backbone. Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2019, pp. 2444-2449.
[29]
R.E. Nogales, and M.E. Benalcázar, "Hand gesture recognition using machine learning and infrared information: A systematic literature review", Int. J. Mach. Learn. Cybern., vol. 12, no. 10, pp. 2859-2886, 2021.
[http://dx.doi.org/10.1007/s13042-021-01372-y]
[30]
J. Egger, and T. Masood, "Augmented reality in support of intelligent manufacturing-A systematic literature review", Comput. Ind. Eng., vol. 140, p. 106195, 2019.
[http://dx.doi.org/10.1016/j.cie.2019.106195]
[31]
C. Zhang, Y. Lu, X. Qiu, S. Song, and L. Liu, Preliminary study on magnetic tracking based navigation for wire-driven flexible robot. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017, pp. 2517-2523.
[http://dx.doi.org/10.1109/IROS.2017.8206071]
[32]
J.G. Jiang, W. Qian, Z.Y. Huang, Y.D. Zhang, and H.J. Chen, "Research progress and prospect of orthodontic accelerating device", Recent Pat. Mech. Eng., vol. 13, no. 3, pp. 190-204, 2020.
[http://dx.doi.org/10.2174/2212797613666200128151515]
[33]
J. Burgner-Kahrs, D.C. Rucker, and H. Choset, "Continuum robots for medical applications: A survey", IEEE Trans. Robot., vol. 31, no. 6, pp. 1261-1280, 2015.
[http://dx.doi.org/10.1109/TRO.2015.2489500]
[34]
G.H. Gao, and Y.Z. Zhang, "A flexible robotic arm with a hollow channel", C.N.111516003, 2014.
[35]
I.A. Gravagne, C.D. Rahn, and I.D. Walker, "Large deflection dynamics and control for planar continuum robots", IEEE/ASME Trans. Mechatron., vol. 8, no. 2, pp. 299-307, 2003.
[http://dx.doi.org/10.1109/TMECH.2003.812829]
[36]
M.W. Hannan, and I.D. Walker, "Analysis and experiments with an elephant’s trunk robot", Adv. Robot., vol. 15, no. 8, pp. 847-858, 2001.
[http://dx.doi.org/10.1163/156855301317198160] [PMID: 12741397]
[37]
T.L. Liu, Research on wire-driven super-redundant robotic arm for confined space operation, M.S. thesis, Harbin Institute of Technology, Harbin, Heilongjiang, China, 2016.
[38]
N. Simaan, Snake-Like units using flexible backbones and actuation redundancy for enhanced miniaturization. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 3012-3017.
[http://dx.doi.org/10.1109/ROBOT.2005.1570572]
[39]
K. Xu, and N. Simaan, "A investigation of the intrinsic force sensing capabilities of continuum robots", IEEE Trans. Robot., vol. 24, no. 3, pp. 576-587, 2008.
[http://dx.doi.org/10.1109/TRO.2008.924266]
[40]
I.D. Walker, H. Choset, and G.S. Chirikjian, "Snake-like and continuum robots", In: Springer Handbook of Robotics., Springer: Cham, Switzerland, 2016, p. 481-498.
[http://dx.doi.org/10.1007/978-3-319-32552-1_20]
[41]
S. Ma, "Analysis of snake movement forms for realization of snake-like robots", Proceedings 1999 IEEE International Conference on Robotics and Automation, MI, USA, 1999, pp. 1050-4729.
[http://dx.doi.org/10.1109/ROBOT.1999.774054]
[42]
H. Xie, S. Li, and H. Yang, "The modeling and visual control simulation of articulated serpentine manipulator", Proceedings 2019 IEEE 8th International Conference on Fluid Power and Mechatronics, Wuhan, China, 2019, pp. 812-817.
[http://dx.doi.org/10.1109/FPM45753.2019.9035815]
[43]
S. Hirose, and H. Yamada, "Snake-like robots", IEEE Robot. Autom. Mag., vol. 16, no. 1, pp. 88-98, 2009.
[http://dx.doi.org/10.1109/MRA.2009.932130]
[44]
K.Y. Pettersen, "Snake robots", Annu. Rev. Contr., vol. 44, pp. 19-44, 2017.
[http://dx.doi.org/10.1016/j.arcontrol.2017.09.006]
[45]
W.F. Xu, and K.L. You, "A high load-bearing universal joint, bone joint of manipulator, and flexible manipulator", C.N.108177159, 2018.
[46]
K.L. Feng, and L.J. Jiang, "A load type flexible manipulator controlled by pneumatic wire", C.N.205363953, 2022.
[47]
W.F. Xu, and T.L. Liu, "A hyper-redundance flexible manipulator based on closed-loop wire-driven", C.N.105150193, 2015.
[48]
T.L. Liu, Z.G. Mu, H.M. Wang, and W.F. Xu, A cable-driven redundant spatial manipulator with improved stiffness and load capacity. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 6628-6633.
[http://dx.doi.org/10.1109/IROS.2018.8593679]
[49]
H.B. Xie, and C. Wang, "A hyper-redundance flexible manipulator with detectable joint posture", C.N.206869870, 2006.
[50]
A. Yeshmukhametov, K. Koganezawa, and Y. Yamamoto, "A novel discrete wire-driven continuum robot arm with passive sliding disc: Design, kinematics and passive tension control", Robotics, vol. 8, no. 3, p. 51, 2019.
[http://dx.doi.org/10.3390/robotics8030051]
[51]
Z. Li, and R.X. Du, "Design and implementation of a biomimetic wire-driven underactuated serpentine manipulator", Transaction on control and mechanical systems, vol. 1, pp. 250-258, 2009.
[52]
B. Liang, and X.Q. Wang, "A flexible manipulator based on spherical joint", C.N.108201039, 2014.
[53]
B. Liang, and Y. Liu, "A flexible manipulator based on a sphere-pin pair", C.N.109773769, 2016.
[54]
S. Song, and C.C. Zhang, "A cable-driven flexible robot", C.N.206840081, 2019.
[55]
D. Ji, T.H. Kang, S. Shim, S. Lee, and J. Hong, "Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery", Int. J. CARS, vol. 14, no. 8, pp. 1365-1377, 2019.
[http://dx.doi.org/10.1007/s11548-019-01976-4] [PMID: 30997634]
[56]
W.F. Xu, and T.L. Liu, "A two-degree-of-freedom linkage joint segment with a flexible robot arm", C.N.108555959, 2017.
[57]
W.F. Xu, and T.L. Liu, "A flexible arm segment and flexible machine based on differential gear arm", C.N.108189018, 2011.
[58]
Y.J. Wang, and Z.X. Zhuang, "A Space flexible manipulator", C.N.106393171, 2012.
[59]
Z. Li, H.L. Ren, P.W.Y. Chiu, R.X. Du, and H.Y. Yu, "A novel constrained wire-driven flexible mechanism and its kinematic analysis", Mechanism Mach. Theory, vol. 95, pp. 59-75, 2015.
[http://dx.doi.org/10.1016/j.mechmachtheory.2015.08.019]
[60]
X. Donga, M. Rafflesa, S.C. Guzmana, D. Axintea, and J. Kellb, "Design and analysis of a family of snake arm robots connected by compliant joints", Mechanism Mach. Theory, vol. 77, pp. 73-91, 2014.
[http://dx.doi.org/10.1016/j.mechmachtheory.2014.01.017]
[61]
C. Lee, M. Kim, Y.J. Kim, N. Hong, S. Ryu, H.J. Kim, and S. Kim, "Soft robot review", Int. J. Control. Autom. Syst., vol. 15, no. 1, pp. 3-15, 2017.
[http://dx.doi.org/10.1007/s12555-016-0462-3]
[62]
R.O. Buckingham, "Snake arm robots", Ind. Rob., vol. 29, no. 3, pp. 242-245, 2002.
[http://dx.doi.org/10.1108/01439910210425531]
[63]
T.Y. Hu, and F. Zhang, "A wire locking device for a wire-driven passive serpentine arm", C.N.109352679, 2018.
[64]
F. Gao, and Q. Zhao, "Design and analysis of new string-driven hyper-redundant DOF robot", Machinery Design Manufac., vol. 4, pp. 53-55, 2013.
[65]
H. Zhang, and X.C. Zhang, "Flexible mechanical arm", C.N.214323366, 1996.
[66]
J.D. Liu, Y.C. Tong, and J.G. Liu, "Review of snake robots in constrained environments", Robot. Auton. Syst., vol. 141, p. 103785, 2021.
[http://dx.doi.org/10.1016/j.robot.2021.103785]
[67]
Y. Tanaka, and I. Okumura, "Wire-driven manipulator", U.S.10687694, 2017.
[68]
Y. Tanaka, and K. Takagi, "Apparatus of continuum robot", U.S.11103992, 2004.
[69]
J. Hughes, U. Culha, F. Giardina, F. Guenther, A. Rosendo, and F. Iida, "Soft manipulators and grippers: A review", Front. Robot. AI, vol. 3, p. 69, 2016.
[http://dx.doi.org/10.3389/frobt.2016.00069]
[70]
N. Liu, C. Bergeles, and G.Z. Yang, Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions. 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016, pp. 4058-4063.
[71]
R. Beira, and R. Clavel, "Mechanical manipulator for surgical instruments", U.S.10092359, 2019.
[72]
L. Zheng, P. Chiu, and R. Du, Design and kinematic modeling of a concentric wire-driven mechanism targeted for minimally invasive surgery. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016, pp. 310-316.
[73]
G. Nicolo, and V. Pietro, "Steerable endoscope with continuum manipulator", U.S.20200015657, 2006.
[74]
G.H. Gao, and C. Liu, "A retractable, bendable, and fully compliant manipulator driven by wires", C.N.108393924, 2003.
[75]
J.T. Yao, and H.L. Li, "Tendon-driven variable-scale continuous robot", C.N.107598910.
[76]
J.T. Yao, and X.B. Chen, "A wire-driven continuum manipulator for heavy load", C.N.108481307, 2022.
[77]
C. Luo, and W.Z. Zhang, "Design and analysis of multiple independent outputs time-sharing driving system for a flexible robot arm", IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2019, pp. 535-539.
[http://dx.doi.org/10.1109/ICARM.2019.8834315]
[78]
P. Qi, C. Qiu, H.B. Liu, J.S. Dai, L.D. Seneviratne, and K. Althoefer, "A novel continuum manipulator design using serially connected double-layer planar springs", IEEE/ASME Trans. Mechatron., vol. 21, no. 3, pp. 1281-1292, 2016.
[http://dx.doi.org/10.1109/TMECH.2015.2498738]
[79]
D. Haraguchi, K. Tadanoa, and K. Kawashima, "Development of a pneumatically-driven robotic forceps with a flexible wrist joint", Procedia CIRP, vol. 5, pp. 61-65, 2013.
[http://dx.doi.org/10.1016/j.procir.2013.01.012]
[80]
T. Tokunaga, K. Oka, and A. Harada, 1segment continuum manipulator for automatic harvesting Robot. 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, 2017, pp. 1655-1659.
[http://dx.doi.org/10.1109/ICMA.2017.8016065]
[81]
S.C. Wang, and W.Z. Zhang, "A flexible Manipulator device with a fluid skeleton", C.N.106239497, 2000.
[82]
J.Y. Lee, E.Y. Go, W.Y. Choi, W.B. Kim, and K.J. Cho, "Development of soft continuum manipulator with pneumatic and tendon driven actuations", 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Xian, China, 2016, pp. 377-379.
[http://dx.doi.org/10.1109/URAI.2016.7734064]
[83]
J.T. Yao, and H.L. Li, "Pneumatic joint flexible manipulator based on wire-driven", C.N.106493723, 2014.
[84]
I.D. Walker, "Continuous backbone “continuum” robot manipulators", Isrn Robotics, vol. 2013, pp. 1-19, 2013.
[http://dx.doi.org/10.5402/2013/726506]
[85]
W. McMahan, B.A. Jones, and I.D. Walker, "Design and implementation of a multi-section continuum robot: Air-Octor", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, 2005, pp. 2578-2585.
[http://dx.doi.org/10.1109/IROS.2005.1545487]
[86]
T. Kanno, D. Haraguchi, M. Yamamoto, K. Tadano, and K. Kawashima, "A forceps manipulator with flexible 4-DOF mechanism for laparoscopic surgery", IEEE/ASME Trans. Mechatron., vol. 20, no. 3, pp. 1170-1178, 2015.
[http://dx.doi.org/10.1109/TMECH.2014.2327223]
[87]
Y. Tanaka, "Wire-driven manipulator", U.S. 20190374090, 2019.
[88]
D.S. Kwon, and J.M. You, "Flexible drive manipulator", U.S.20210370529, 2019.
[89]
M.S. Moses, R.J. Murphy, M.D.M. Kutzer, and M. Armand, "Modeling cable and guide channel interaction in a high-strength cable-driven continuum manipulator", IEEE/ASME Trans. Mechatron., vol. 20, no. 6, pp. 2876-2889, 2015.
[http://dx.doi.org/10.1109/TMECH.2015.2396894] [PMID: 27818607]
[90]
M.D.M. Kutzer, S.M. Segreti, C.Y. Brown, M. Armand, R.H. Taylor, and S.C. Mears, "Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis", 2011 IEEE International Conference on Robotics and Automation., Shanghai, China, 2011, pp. 2913-2920.
[http://dx.doi.org/10.1109/ICRA.2011.5980285]
[91]
T. Kato, I. Okumura, S.E. Song, A.J. Golby, and N. Hata, "Tendon-driven continuum robot for endoscopic surgery: Preclinical development and validation of a tension propagation model", IEEE/ASME Trans. Mechatron., vol. 20, no. 5, pp. 2252-2263, 2015.
[http://dx.doi.org/10.1109/TMECH.2014.2372635] [PMID: 26380544]
[92]
H.D. Wang, Z.G. Du, W.L. Yang, Z.Y. Yan, and X.L. Wang, "Variable stiffness model construction and simulation verification of coupled notch continuum manipulator", IEEE Access, vol. 7, pp. 154761-154769, 2019.
[http://dx.doi.org/10.1109/ACCESS.2019.2949376]
[93]
M. Neumann, and J. Burgner-Kahrs, Considerations for follow-the-leader motion of extensible tendon-driven continuum robots. 2016 IEEE International Conference on Robotics & Automation, Stockholm, Sweden, 2016, pp. 917-923.
[http://dx.doi.org/10.1109/ICRA.2016.7487223]
[94]
T.D. Nguyen, and J. Burgner-Kahrs, "A tendon-driven continuum robot with extensible sections", 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 2130-2135.
[http://dx.doi.org/10.1109/IROS.2015.7353661]
[95]
C. Wang, S.N. Geng, D.T. Branson, C.H. Yang, J.S. Dai, and R.J. Kang, "Task space-based orientability analysis and optimization of a wire-driven continuum robot", Proc. Inst. Mech. Eng., C J. Mech. Eng. Sci., vol. 233, no. 23-24, pp. 7658-7668, 2019.
[http://dx.doi.org/10.1177/0954406219889083]
[96]
T.Y. Qu, J. Chen, S. Shen, Z. Xiao, Z. Yue, and H. Lau, Motion control of a bio-inspired wire-driven multi-backbone continuum minimally invasive surgical manipulator. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 2016, pp. 1989-1995.
[http://dx.doi.org/10.1109/ROBIO.2016.7866621]
[97]
Z. Li, R.X. Du, H.Y. Yu, and R.L. Ren, Statics modeling of an underactuated wire-driven flexible robotic arm. 2014 IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, São Paulo, Brazil, 2014, p. 326-331.
[http://dx.doi.org/10.1109/BIOROB.2014.6913797]
[98]
J.C. Case, E.L. White, V. SunSpiral, and R. Kramer-Bottiglio, "Reducing actuator requirements in continuum robots through optimized wire routing", Soft Robot., vol. 5, pp. 109-118, 2018.
[http://dx.doi.org/10.1089/soro.2017.0030] [PMID: 29412083]
[99]
Y. Kim, and J.P. Desai, "Design and kinematic analysis of a neurosurgical spring-based continuum robot using SMA spring actuators", 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 1428-1433.
[http://dx.doi.org/10.1109/IROS.2015.7353555]
[100]
H.S. Yoon, and B.J. Yi, "A 4-DOF flexible continuum robot using a spring backbone", 2009 IEEE International Conference on Mechatronics and Automation, Changchun, China, 2009, pp. 1249-1254.
[http://dx.doi.org/10.1109/ICMA.2009.5246612]

Rights & Permissions Print Cite
© 2024 Bentham Science Publishers | Privacy Policy